Bounded output control for four-rotor aircraft

Abstract

The invention discloses a bounded output control method for a four-rotor aircraft. In order to solve the problem of excessive overshoot of an output value of a four-rotor aircraft during actual takeoff, the invention designs a bounded output control method based on a barrier Lyapunov function (BLF). The method not only can enable the actual output value of a four-rotor aircraft to track an expected output value, but also can enable the actual output value to be always kept in a preset safety range. According to the method, a BLF and sliding mode control are combined to design a controller, a traditional sliding mode surface is restrained within a certain range through the BLF, and therefore it is guaranteed that the output value of the four-rotor aircraft is kept within a certain range, itis finally proved that the control system is stable, and meanwhile it can be guaranteed that the actual output value is bounded.

Description

technical field [0001] The invention belongs to the technical field of four-rotor unmanned aerial vehicles, and in particular relates to an output bounded control method of four-rotor unmanned aerial vehicles. Background technique [0002] In recent years, quadrotor aircraft has been widely concerned due to its simple structure and high maneuverability such as vertical take-off and landing, fixed-point hovering, lateral flight, and inverted flight. Among them, the design of the controller is a research hotspot. Different controllers are designed to control the position and attitude of the quadrotor UAV. At present, the control methods of quadrotor aircraft mainly include PID control, backstepping control, dynamic surface control, sliding mode control, active disturbance rejection control and so on. Although these methods effectively realize the stable control of quadrotor aircraft, they rarely consider the problem of its bounded output. For quadrotor aircraft, the bounded o...

AI Technical Summary

Problems solved by technology

However, in the backstepping control of nonlinear systems based on BLF function, there are problems such as complex controller structure and small selection interval of the initial value of the constraint. In view of the above problems, some scholars have proposed an adaptive backstepping control scheme based on nonlinear mapping. Increase the selection of initial value of the system and reduce the complexity of controller design

For a class of nonlinear systems with unmodeled dynamics, some scholars proposed a control scheme based on BLF and adaptive dynamic surfaces. Compared with the backstepping method, the control method using dynamic surfaces reduces the complexity of controller design. , but the backstepping method and the dynamic surface control method need to accurately model the control object, and the anti-interference ability is poor

[0004] Therefore, the present invention provides a novel control method for quadrotor aircraft. Aiming at the problem that the attitude overshoot is too large when the quadrotor aircraft actually takes off, a bounded output control of the quadrotor aircraft is designed. This method can not only ensure that the quadrotor aircraft The attitude angle can quickly track the expected value, and the attitude angle can always be kept within a certain safe range, so as to realize the safe and stable control of the quadrotor aircraft

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