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Backstepping Control Method of Quadrotor UAV with Input Time Delay

A four-rotor unmanned aerial vehicle, backstep control technology, applied in the direction of attitude control, control/adjustment system, non-electric variable control, etc., can solve the problems of control signal control, accidents, system divergence, etc., to reduce the arrival time, avoid Excessive overshoot, the effect of improving control accuracy

Active Publication Date: 2022-06-28
XUZHOU NORMAL UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the UAV control system, there are various factors affecting the time lag. In the measurement and control of the signal measurement and control of the flight control system, which requires extremely high control accuracy, the existence of the time lag makes the control signal unable to respond to the controlled quantity in time. time error at the millisecond level will bring unpredictable consequences, and even cause the system to diverge and cause accidents, which will bring huge hidden dangers to life and property safety

Method used

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  • Backstepping Control Method of Quadrotor UAV with Input Time Delay
  • Backstepping Control Method of Quadrotor UAV with Input Time Delay
  • Backstepping Control Method of Quadrotor UAV with Input Time Delay

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Embodiment Construction

[0069] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0070] refer to Figure 1-Figure 3 , a method for backstepping control of a quadrotor UAV with an input time delay, comprising the following steps:

[0071] Step 1, establish the dynamic model of the four-rotor UAV system, set the initial value, sampling time and relevant control parameters of the system, the process is as follows:

[0072] To model the flight dynamics of the quadrotor UAV, the linear form of the dynamics model is:

[0073]

[0074] in is the roll angle; θ is the pitch angle; ψ is the yaw angle; m is the total mass of the drone body; U 1 is the input of the vertical channel; τ is the unknown input delay; l is the distance from the center of the propeller to the center of the quadrotor; I x , I y , I z are the moment of inertia of the quadrotor to the three axe...

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Abstract

The backstepping control method of quadrotor UAV with input time delay, for the dynamic system of quadrotor aircraft, chooses an obstacle Lyapunov function, uses Pade approximation to introduce intermediate variables, eliminates the influence of input time delay on the system, and designs A backstepping control method for quadrotor aircraft with input time delay is presented. The barrier Lyapunov function can limit the output error of the system within a certain range, avoid excessive overshoot, and reduce the arrival time at the same time. Pade approximation can deal with the input time lag of the system, so that the control signal can control the controlled quantity in time, so as to improve the dynamic response performance of the quadrotor aircraft system. The backstep control method of the quadrotor unmanned aerial vehicle of the present invention can make the control signal timely control the controlled quantity correspondingly, thereby improving the control of the quadrotor aircraft system.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to a four-rotor unmanned aerial vehicle backstepping control method with input time delay. Background technique [0002] Four-rotor UAV refers to an unmanned aircraft that can fly autonomously or be controlled by remote sensing, utilize aerodynamic load to fly, and can be recycled. It has the characteristics of light weight, simple control, small size and flexible flight, and can be widely used in various fields such as measurement, reconnaissance, and disaster relief. From a structural point of view, the quadrotor UAV is a rigid cross structure, and the four motors are fixed at the end of the rigid structure. By controlling the motor speed and adjusting the lift generated by the rotor, the attitude and position of the quadrotor UAV can be changed. In terms of function, the quadrotor UAV is flexible in combat and is not limited by the combat site. It can take off and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10G06F17/14
CPCG05D1/0825G05D1/101G06F17/14
Inventor 李硕段纳陈超
Owner XUZHOU NORMAL UNIVERSITY