Four-rotor aircraft robust tracking control method based on iterative learning

A quadrotor aircraft, tracking control technology, applied in the field of robust tracking control of quadrotor aircraft based on iterative learning, to achieve the effect of improving the weight update rules and training process

Inactive Publication Date: 2020-09-11
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The invention provides a robust tracking control method for a quadrotor aircraft based on iterative learning. The invention solves the problem of robust tracking control of a quadrotor aircraft system under t

Method used

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  • Four-rotor aircraft robust tracking control method based on iterative learning
  • Four-rotor aircraft robust tracking control method based on iterative learning
  • Four-rotor aircraft robust tracking control method based on iterative learning

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Embodiment 1

[0047] A robust tracking control method for a quad-rotor aircraft based on iterative learning includes the following steps:

[0048] Step 1) Analyze the dynamic differential equation of the quadrotor with time-varying uncertainty, and establish the tracking error model of the quadrotor, including the position tracking error subsystem and the attitude tracking error subsystem;

[0049] Step 2) Obtain the state space model of the attitude tracking error subsystem, define the coupling uncertainty of the position tracking error subsystem, and establish the state space model of the position tracking error subsystem;

[0050] Step 3) Consider the time-varying uncertainty characteristics and the coupling uncertainty characteristics, and establish a cost function considering the coupling uncertainties for the nominal system of the position tracking error subsystem and the attitude tracking error subsystem; based on the cost function, the solution is obtained Optimal control rate;

[0051] Tha...

Embodiment 2

[0159] In order to enable those skilled in the art to better understand the present invention, the robust tracking control method of a quadrotor based on iterative learning will be described in detail below in conjunction with specific embodiments.

[0160] The main parameters of the quadrotor system are given as follows: Moment of inertia p 1 = P 2 =0.16N·m, p 3 =0.32N·m; lever arm length l=0.4m; moment coefficient c=0.05m; quadrotor mass m=2.33kg; acceleration of gravity g=9.8m·s 2 . k i ,i=1,,6 represents the air damping coefficient, and satisfies 0.007≤k 1 ,k 2 ,k 3 ≤0.013 and 0.0084≤k 4 ,k 5 ,k 6 ≤0.0156.

[0161] The nominal value of the air damping coefficient is set to k 1 =k 2 =k 3 = 0.01 and k 4 =k 5 =k 6 = 0.012. Since the x-, y-, and z-directions of the quadrotor are decoupled from each other in the position subsystem, the state sequence in the position tracking error subsystem can be adjusted to obtain Realize its decoupling representation in three directions, and the...

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Abstract

The invention discloses a four-rotor aircraft robust tracking control method based on iterative learning, and the method comprises the steps: carrying out the analysis of a four-rotor aircraft dynamicdifferential equation containing time-varying uncertainty, and building a position and attitude tracking error subsystem; obtaining a state space model of the attitude tracking error subsystem, defining coupling uncertainty of the position tracking error subsystem, and establishing a state space model of the position tracking error subsystem; considering time-varying and coupling uncertainty characteristics, and establishing a cost function considering a coupling uncertainty item for a nominal system of a position tracking error subsystem and an attitude tracking error subsystem; based on thecost function, performing solving to obtain an optimal control rate; based on an adaptive dynamic programming method, designing an improved neural network weight updating rule, obtaining a robust tracking controller through approximate solution, and achieving approximate optimal tracking control based on iterative learning. The robust tracking control problem of the four-rotor aircraft system under time-varying and coupling uncertainty is solved.

Description

Technical field [0001] The invention relates to the field of quad-rotor aircraft, in particular to a robust tracking control method for quad-rotor aircraft based on iterative learning. Background technique [0002] In recent years, unmanned aerial vehicles have received a lot of attention from academia and business circles due to their wide application prospects, such as unmanned patrol, forest fire detection, disaster rescue, etc. Among them, the quadrotor is an unmanned aerial vehicle that is widely used. The quadrotor system is an under-actuated control system. Based on the particularity of the structure, the quadrotor has six degrees of freedom, but only four rotor control inputs are used for control, which also leads to strong coupling characteristics in system dynamics, making the design of the system controller more difficult. At the same time, the time-varying uncertainty of external wind interference and internal electromagnetic interference makes the control problem m...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/042G05D1/0825
Inventor 穆朝絮张勇孙长银
Owner TIANJIN UNIV
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