Sliding mode repetitive controller suitable for four-rotor aircraft

Abstract

The invention discloses a sliding mode repetitive controller suitable for a four-rotor aircraft. The controller is characterized in that firstly, improving a common exponential reaching law, designinga novel improved reaching law by utilizing a high-order function and a logarithmic function, discretizing a kinetic model of a four-rotor aircraft to adapt to the design of a digital controller, decoupling position coordinates and an attitude angle through the virtual control quantity, and designing discrete sliding mode repetitive controllers for a position subsystem and an attitude subsystem respectively to overcome periodic interference and realize tracking control of the aircraft on a given trajectory. The method is advantaged in that a control algorithm can be conveniently realized on adigital chip, so the aircraft control system has good repetitive trajectory operation performance while having robustness, a problem of steady-state buffeting of the reaching law is solved, and decoupling control of the four-rotor aircraft is realized.

Description

technical field [0001] The invention relates to repetitive control technology, and is especially suitable for tracking control of a quadrotor aircraft to periodic position commands. Background technique [0002] Quadrotor aircraft is a flying device in which four helical power mechanisms are fixedly arranged in a cross and on the same plane. It has simple mechanical structure, flexible control, small size, low cost, and is easy to realize functions such as unmanned driving, fixed-point hovering or vertical take-off and landing. It has been widely used in many fields such as civil and military in recent years. [0003] The quadrotor aircraft generates lift through the rotation of four motors, and forms yaw, pitch and roll moments through the slip between the diagonal motors. The lift force and the three kinds of moments work together to realize the control of the aircraft's geographic location and flight attitude. Therefore, the quadrotor aircraft has four outputs and six o...

AI Technical Summary

Problems solved by technology

[0005] In order to improve the control accuracy of the quadrotor aircraft when performing repetitive trajectory tracking tasks, the present invention provides a sliding mode repetitive controller suitable for the quadrotor aircraft, which is convenient for the realization of the control algorithm on the digital chip, so that the aircraft control system is robust. At the same time, it has good repeatability trajectory performance, solves the steady-state chattering problem of reaching law, and realizes the decoupling control of quadrotor aircraft

Images