Finite time height and attitude tracking control method for unmanned helicopter

An unmanned helicopter, time-limited technology, applied in the field of flight control of unmanned helicopters
CN110377044AActive Publication Date: 2019-10-25SOUTHEAST UNIV
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
SOUTHEAST UNIV
Publication Date
2019-10-25

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Abstract

The invention discloses a finite time height and attitude tracking control method for an unmanned helicopter. The finite time height and attitude tracking control method comprises the step of: firstly, considering a flapping model of a main rotor and an aileron, and establishing a height and attitude comprehensive model; secondly, constructing a finite time disturbance observer to estimate unknowntime-varying interference, and acquiring an interference estimation value; thirdly, designing a height and attitude composite anti-interference tracking controller by combining a power adding integration method based the observed interference estimation value; and finally, selecting appropriate controller gain and observer gain according to design rules, so as to achieve finite time tracking of height and attitude. The finite time height and attitude tracking control method improves the precision, rapidity and anti-interference performance of the unmanned helicopter height and attitude closed-loop tracking system.
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Description

technical field

[0001] The invention relates to a finite-time altitude and attitude tracking control method of an unmanned helicopter, belonging to the technical field of flight control of the unmanned helicopter. Background technique

[0002] In recent years, unmanned helicopters have attracted widespread attention due to their unique advantages, such as vertical take-off and landing, low-altitude flight, and flight in small and complex environments such as mountains and buildings. Based on these advantages, unmanned helicopters are widely used in aerial photography, rescue, detection and other tasks. However, an unmanned helicopter is a highly nonlinear, underactuated, and strongly coupled system. Furthermore, its flight performance is easily affected by disturbances, such as gusts of wind. Therefore, designing a high-performance flight controller becomes a challenging research topic.

[0003] At present, there are two main control methods for unmanned helicopter system...

Claims

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