Fixed time attitude tracking control method considering problem of actuator constraints for rigid aircraft

A technology of tracking control and fixed time, applied in attitude control, adaptive control, general control system, etc., can solve problems that are difficult for designers to know

Active Publication Date: 2019-12-06
ZHEJIANG UNIV OF TECH
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Problems solved by technology

However, the existing finite-time techniques for estimating the convergence time need to know the initial information of the system, which is difficult for the designer to know

Method used

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  • Fixed time attitude tracking control method considering problem of actuator constraints for rigid aircraft
  • Fixed time attitude tracking control method considering problem of actuator constraints for rigid aircraft
  • Fixed time attitude tracking control method considering problem of actuator constraints for rigid aircraft

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Embodiment Construction

[0084] The present invention will be further described below in conjunction with the accompanying drawings.

[0085] refer to Figure 1-Figure 6 , a fixed-time attitude tracking control method for a rigid-body vehicle considering the limited problem of an actuator, the control method comprising the following steps:

[0086] Step 1, establish the kinematics and dynamics model of the rigid aircraft, initialize the system state and control parameters, the process is as follows:

[0087] 1.7 The kinematic equation of the rigid aircraft system is:

[0088]

[0089]

[0090] where q v =[q 1 ,q 2 ,q 3 ] T and q 4 are the vector part and the scalar part of the unit quaternion respectively and satisfy q 1 ,q 2 ,q 3 are the values ​​mapped on the x, y, and z axes of the space Cartesian coordinate system; respectively q v and q 4 Derivative of ; Ω∈R 3 is the angular velocity of the rigid vehicle; I 3 is R 3×3 identity matrix; Expressed as:

[0091]

[0092] 1...

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Abstract

The invention relates to a fixed time attitude tracking control method considering a problem of actuator constraints for a rigid aircraft. A fixed time sliding mode surface is designed for a problem of attitude tracking of the rigid aircraft with concentrated uncertainty, so that fixed time convergence of a state is guaranteed; and a fixed time controller is designed by importing an approximate total uncertainty function of a neural network. The controlling of fixed time uniform ultimate boundedness of an attitude tracking error and an angular speed error of an aircraft system is realized under the factors of the external interference, rotational inertia uncertainty and actuator saturation and fault.

Description

technical field [0001] The invention relates to a fixed-time attitude tracking control method for a rigid-body aircraft considering the problem of limited actuators, in particular to a rigid-body aircraft attitude tracking method with external disturbances, uncertain moment of inertia matrix, saturation and failure of actuators. Background technique [0002] Rigid aircraft attitude control systems play an important role in the healthy and reliable motion of rigid aircraft. In a complex aerospace environment, the attitude control system of rigid aircraft will be affected by various external disturbances and the aging and failure of rigid aircraft during long-term continuous missions. In order to effectively maintain the performance of the system, it needs to be robust to external disturbances and actuator failures; in addition, the rigid aircraft also has an uncertain moment of inertia matrix, so control saturation is also a common problem for aircraft. To sum up, when a rig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/027G05B13/042G05D1/0808
Inventor 陈强谢树宗孙明轩
Owner ZHEJIANG UNIV OF TECH
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