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Quadrotor unmanned aerial vehicle attitude dynamic surface control method and storage medium

A four-rotor UAV, dynamic surface control technology, applied in attitude control, non-electric variable control, control/regulation system and other directions, can solve the problems of singular value and reduced control performance.

Inactive Publication Date: 2020-07-24
PUTIAN UNIV
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Problems solved by technology

[0003] To this end, it is necessary to provide a quadrotor UAV attitude dynamic surface control method and storage medium based on a nonlinear augmented observer, so as to solve the transformation matrix of the existing quadrotor UAV attitude dynamic model based on the Euler angle representation. There will be problems of singular values, and the problem that the control performance will be reduced due to the uncertainty items in the attitude mathematical model of the quadrotor UAV and the amount of external disturbance

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  • Quadrotor unmanned aerial vehicle attitude dynamic surface control method and storage medium
  • Quadrotor unmanned aerial vehicle attitude dynamic surface control method and storage medium
  • Quadrotor unmanned aerial vehicle attitude dynamic surface control method and storage medium

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[0066] In order to explain in detail the technical content, structural features, achieved goals and effects of the technical solution, the following will be described in detail in conjunction with specific embodiments and accompanying drawings.

[0067] see Figure 1-2 , the present embodiment provides a nonlinear augmented observer-based quadrotor UAV attitude dynamic surface control method, comprising the following steps:

[0068] Step S110: Based on the nonlinear function of two quaternions, establish a quadrotor UAV attitude dynamics model;

[0069] Considering that the quadrotor UAV is in a hovering state, or in a low-speed flight state, according to the combined external moment M of the quadrotor UAV T Including control torque U, Coriolis torque M c , and the uncertainty factor moment Δ, determine the attitude dynamics model of the quadrotor UAV as ω is the body coordinate E B Down relative to the inertial coordinate E I the angular velocity of J is the moment of...

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Abstract

The invention relates to a quadrotor unmanned aerial vehicle attitude dynamic surface control method based on a nonlinear augmented observer and a storage medium. The method comprises the following steps: establishing a quadrotor unmanned aerial vehicle attitude dynamic model based on a nonlinear function of two quaternions; based on the attitude state quantity and the angular velocity state quantity output by the established quadrotor unmanned aerial vehicle attitude dynamic model, establishing the nonlinear augmented observer; and sequentially replacing the attitude state quantity and the angular velocity state quantity output by the quadrotor unmanned aerial vehicle attitude dynamic model based on the observation state quantity of the nonlinear augmented observer, establishing a dynamicsurface controller, and outputting the attitude control quantity of the quadrotor unmanned aerial vehicle. The singular point problem generated during large-angle maneuvering flight is avoided, meanwhile, the complex coordinate conversion derivation process is avoided, the final bounded range of observation errors of the nonlinear augmented observer is smaller than disturbance, disturbance can beinhibited continuously in a bounded mode, meanwhile, the device is not sensitive to noise, and thus the robustness of the whole control system is guaranteed.

Description

technical field [0001] The invention relates to the technical field of quadrotor UAVs, in particular to a method for controlling the attitude dynamic surface of a quadrotor UAV based on a nonlinear augmented observer and a storage medium. Background technique [0002] Four-rotor UAV has the characteristics of vertical take-off and landing, fixed-point hovering, strong maneuverability, and flexible operation. It has been widely used in military and civilian fields such as search and rescue, battlefield investigation, fire site investigation, and traffic control. The attitude mathematical model of the existing four-rotor UAV attitude controller is usually established under the condition that the rate of change of the limited attitude angle is equal to the angular velocity around the body axis, that is, the conversion relationship matrix from the body axis angular velocity to Euler angle is the identity matrix by default , but this default condition is only reasonable when the ...

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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 窦景欣范逸群马伟平杨建军
Owner PUTIAN UNIV
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