Multi-rotor nonlinear flight control method based on quaternion

Abstract

The invention discloses a multi-rotor nonlinear flight control method based on quaternion. The method comprises the following steps: firstly, assuming an environmental variable and a multi-rotor motion condition to simplify multi-rotor modeling; secondly, establishing a multi-rotor position change equation according to a Newton's second law, and establishing an attitude change equation according to a kinematic moment theorem and a quaternion kinematic equation; and finally, decomposing the control of the multi-rotor aircraft into position control and attitude control of an inner and outer ringstructure, and designing the outer ring position controller and the inner ring attitude controller of the multi-rotor aircraft by combining a back-stepping method with a Lyapunov stability theorem. According to the method, the attitude of the multi-rotor is described by the quaternion, and the controller is designed in combination with a backstepping method, so that the singular problem possiblyoccurring when the attitude angle is described by the Euler angle is effectively avoided, the method has better performance in addressing the nonlinear problem, and the position and attitude of the multi-rotor can be stably controlled.

Description

technical field [0001] The invention belongs to the technical field of multi-rotor flight control, in particular to a multi-rotor nonlinear flight control method based on quaternion. Background technique [0002] Among the many micro drones, the structure and control of the multi-rotor aircraft are simple, only need to control the speed of the motor to achieve complex movements such as vertical take-off and landing of the aircraft, and the impact on the environment is small during take-off and landing, and the noise emitted is small. Compared with other aircraft, it has many advantages: independent take-off and landing capability, ability to adapt to the environment, and ability to fly in various modes, such as hovering, forward flight, side flight, backward flight, yaw rotation, etc. In the field of flight control, since the multi-rotor aircraft is a nonlinear model, it has the characteristics of strong coupling and underactuation. Therefore, multi-rotor aircraft has broad...

AI Technical Summary

Problems solved by technology

However, this is only true in low-speed flight or hovering without external interference. When flying at high speed or with strong external interference, the controller cannot effectively control the stability of the multi-rotor.

Due to the simple design steps of these controllers, it is difficult to control the multi-rotor system that is under-actuated, strongly coupled, and susceptible to external influences. When the multi-rotor is performing track tracking flight, it is difficult to take anti-interference into account when tracking accuracy and response speed are required. ability

Images