Quadrotor unmanned aerial vehicle attitude fault-tolerant control method based on adaptive terminal sliding mode

A technology of quadrotor UAV and self-adaptive terminal, which is applied in self-adaptive control, attitude control, general control system, etc., and can solve problems such as inconsistency of failure factors

CN110502027AActive Publication Date: 2019-11-26NANJING UNIV OF POSTS & TELECOMM
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2019-11-26

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Abstract

The invention provides a quadrotor unmanned aerial vehicle attitude fault-tolerant control method based on an adaptive terminal sliding mode. The method comprises the steps that a quadrotor unmanned aerial vehicle is divided into a position subsystem and an attitude subsystem, and a corresponding mathematical model is established; the error function of the position subsystem is defined, and enabled to fly along a desired trajectory; then, in the case of the time-varying failure of the pitch angle theta of the attitude subsystem, a control law is designed by using the control method based on the adaptive terminal sliding mode; and the attitude angle error of the unmanned aerial vehicle is stabilized to zero to achieve adaptive fault tolerance. The quadrotor unmanned aerial vehicle fault-tolerant control method based on the adaptive terminal sliding mode, which is provided by the invention, can effectively solve the problem of time-varying fault in limited time, reduces the influence ofnoise, and is used in reconnaissance, rescue, cruise and other tasks.
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Description

technical field

[0001] The invention relates to the technical field of fault-tolerant control of unmanned aerial vehicles, in particular to an attitude fault-tolerant control method of a quadrotor unmanned aerial vehicle based on an adaptive terminal sliding mode. Background technique

[0002] With the rapid development of independent control high-tech, modern equipment tends to be more integrated, intelligent and complex for in-depth research. As an emerging combat equipment, unmanned aerial vehicles (UAVs) can perform tasks in environments beyond the limits of human physiology due to their characteristics of "no one on board". Task. But it is precisely because of the unmanned characteristics that this puts forward higher requirements for the fault-tolerant control of UAVs.

[0003] Rotor UAV is a kind of aircraft with poor stability and difficult to control. It has many dynamic characteristics such as multivariable, nonlinear coupling, and flexible structure. During the ...

Examples

Embodiment Construction

[0032] In order to deepen the understanding of the present invention, the present invention will be further described below in conjunction with examples, which are only used to explain the present invention and do not constitute a limitation to the protection scope of the present invention. Such as Figure 1-12 As shown, this embodiment provides a quadrotor UAV attitude fault-tolerant control method based on adaptive terminal sliding mode, and the steps of the method are as follows:

[0033] Step S1: Establishing a mathematical model for constructing a quadrotor UAV based on the Lagrange-Newton equation;

[0034]

[0035] Among them: φ, θ, ψ are the roll angle, pitch angle and yaw angle of the quadrotor UAV respectively; x, y, z are the position coordinates of the centroid of the quadrotor UAV; l is the distance from the end of the rotor to the front end of the rotor ; m is the mass of the quadrotor UAV, I is the moment of inertia of each axis, K 1 ~K 6 is the drag coeff...