A sliding mode repetitive controller suitable for quadrotor aircraft
A four-rotor aircraft and repetitive controller technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of solving steady-state chattering, realizing decoupling control, and good repeatable trajectory performance
Active Publication Date: 2022-07-15
ZHEJIANG UNIV OF TECH
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[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
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[0094] The present invention will be further described below in conjunction with the accompanying drawings.
[0095] refer to Figure 2 to Figure 13 , a sliding mode repetitive controller suitable for quad-rotor aircraft. First, the commonly used exponential reaching law is improved, and a new improved reaching law is designed by using high-order function and logarithmic function. The dynamic model is discretized to suit the design of the digital controller, and then the position coordinates and attitude angles are decoupled through virtual control variables, and discrete sliding mode repetitive controllers are designed for the position subsystem and attitude subsystem respectively to overcome periodic disturbances , to realize the tracking control of the aircraft for a given trajectory.
[0096] In sliding mode control, the switching function described by the exponential reaching law cannot fully converge to the sliding mode surface, and the steady-state chattering is caused...
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A sliding mode repetitive controller suitable for quadrotor aircraft, firstly, the commonly used exponential reaching law is improved, a new improved reaching law is designed by using high-order function and logarithmic function, and then the power of the quadrotor aircraft is improved. The learning model is discretized to suit the design of the digital controller, and then the position coordinates and attitude angles are decoupled through virtual control variables, and discrete sliding mode repetitive controllers are designed for the position subsystem and attitude subsystem respectively to overcome periodic interference. Realize the tracking control of the aircraft for a given trajectory. The invention facilitates the realization of the control algorithm on the digital chip, makes the aircraft control system robust, and has good repeatable trajectory running performance, solves the steady-state buffeting problem of the approach law, and realizes the decoupling of the quadrotor aircraft. control.
Description
technical field [0001] The invention relates to a repetitive control technology, and is especially suitable for the tracking control of periodic position commands by a quadrotor aircraft. Background technique [0002] A quadrotor is a flying device in which four helical power mechanisms are criss-crossed and fixedly arranged on the same plane. Its mechanical structure is simple, flexible in operation, small in size, low in cost, and easy to realize functions such as unmanned driving, fixed-point hovering or vertical take-off and landing. In recent years, it has been widely used in civil and military fields. [0003] The quadrotor generates lift through the rotation of four motors, and generates yaw, pitch and roll moments through the slip between the diagonal motors. The lift force and the three torques work together to realize the control of the aircraft's geographic position and flight attitude. Therefore, the quadrotor has four outputs and six outputs, and is a typical ...
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IPC IPC(8): G05B13/04G05D1/10
CPCG05B13/042G05D1/101
Inventor 周文委孙明轩翁国庆张有兵陈强
Owner ZHEJIANG UNIV OF TECH