Fixed-time neural network control method for rigid aircraft

A neural network control, fixed-time technology, used in attitude control, control/regulation systems, non-electric variable control, etc.

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

[0005] In order to overcome the unknown nonlinear problem existing in the existing rigid aircraft attitude control system, the present invention provides a fixed-time neural network control method for rigid aircraft, and in the case of external disturbances and uncertain moments of inertia in the system, the system attitude can be realized Fixed-time uniformly ultimately bounded control method for tracking error and angular velocity error

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  • Fixed-time neural network control method for rigid aircraft
  • Fixed-time neural network control method for rigid aircraft
  • Fixed-time neural network control method for rigid aircraft

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Embodiment Construction

[0082] The present invention will be further described below in conjunction with the accompanying drawings.

[0083] refer to Figure 1-Figure 6 , a kind of fixed-time neural network control method of rigid vehicle, described control method comprises the following steps:

[0084] Step 1, establish the kinematics and dynamics model of the rigid aircraft, initialize the system state and control parameters, the process is as follows:

[0085] 1.5 The kinematic equation of the rigid aircraft system is:

[0086]

[0087]

[0088] 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 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:

[0089]

[0090] 1.6 The dynamic equation of the rigid aircraft system is:

...

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Abstract

Disclosed is a fixed-time neural network control method for a rigid aircraft. Aiming at the rigid aircraft attitude tracking problem with centralized uncertainty, a fixed-time sliding mode surface isdesigned, so that the fixed time convergence of the state is guaranteed; and a fixed-time controller is designed by introduction of a neural network approaching total uncertainty function. Under the factors that the external interference and the rotational inertia are not determined, consistent final bounded control of the attitude tracking error and the angular velocity error fixed time of the aircraft system is realized.

Description

technical field [0001] The invention relates to a fixed-time neural network control method for a rigid aircraft, in particular to an attitude tracking control method for a rigid aircraft with external disturbance and uncertain moment of inertia matrix. 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 rigid aircraft attitude control system will be affected by various external disturbances and uncertain moment of inertia matrices. In order to effectively maintain the performance of the system, it needs to be robust to external disturbances and uncertain moment of inertia matrix. As a typical nonlinear control method, sliding mode variable structure control can effectively improve the stability and maneuverability of rigid aircraft, and has strong robustness, thereby improving the ability to perform tasks. Therefore, it is of great signific...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 陈强谢树宗孙明轩
Owner ZHEJIANG UNIV OF TECH
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