Four-rotor aircraft sliding mode control method based on nonlinear disturbance observer

A quadrotor aircraft and disturbance observer technology, applied in non-electric variable control, vehicle position/route/altitude control, attitude control, etc., can solve problems such as singular phenomena

Active Publication Date: 2020-09-29
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, in practical applications, in a certain area, the control input will appear infinite, that is, a singular phenomenon

Method used

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  • Four-rotor aircraft sliding mode control method based on nonlinear disturbance observer
  • Four-rotor aircraft sliding mode control method based on nonlinear disturbance observer
  • Four-rotor aircraft sliding mode control method based on nonlinear disturbance observer

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Embodiment Construction

[0102] The specific embodiment of the present invention will be further described in detail in conjunction with the accompanying drawings. In order that those of ordinary skill in the art can better understand the implementation of the present invention, the present invention also provides the simulation verification results of the control method using Matlab2018a software.

[0103] Such as figure 1 As shown, when the quadrotor UAV is affected by external disturbances, the disturbance is estimated in real time by establishing a nonlinear disturbance observer, and the attitude and position subsystem controllers are further designed using the disturbance estimation information, so that the system is in the attitude controller and Under the control of the position controller, the target instruction is still tracked. The present embodiment is a sliding mode control method for a quadrotor aircraft based on a nonlinear disturbance observer, comprising the following steps:

[0104]...

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Abstract

The invention provides a four-rotor aircraft sliding mode control method based on a nonlinear disturbance observer. The influence of system uncertainty and external disturbance of the four-rotor aircraft is considered, the method comprises the following steps: firstly, establishing a four-rotor dynamical model considering external disturbance and providing a nonlinear disturbance observer to estimate the actual value of the external disturbance; the invention aims to ensure the stability of a four-rotor aircraft, four-rotor dynamics is decomposed into an attitude subsystem and a position subsystem according to the design thought of double rings, controllers are designed for the two subsystems respectively, the nonsingular fast terminal sliding mode controller designed for the inner ring can ensure fast convergence of the attitude, backstepping and the nonsingular fast terminal sliding mode are combined and applied to an outer ring, the tracking performance is guaranteed, and the methodhas good tracking performance and high robustness for the four-rotor aircraft with system uncertainty and external disturbance.

Description

technical field [0001] The invention belongs to the technical field of aircraft automatic control, and in particular relates to a sliding mode control method for a quadrotor aircraft based on a nonlinear disturbance observer. Background technique [0002] The quadrotor aircraft obtains the force of rotating the fuselage by changing the speed of the motor, thereby adjusting its own attitude. Compared with traditional aircraft, quadrotors have significant advantages such as low cost, strong controllability, simple operation, and convenient maintenance. Therefore, quadrotors are used for various tasks such as aerial logistics, grid maintenance, pesticide spraying, aerial photography, etc. However, the design of a quadrotor flight control system is a challenging task due to its underactuated characteristics, nonlinear coupling, gyroscopic effects, and external disturbances associated with uncertain flight environments. In practical applications, the quadrotor is easily affecte...

Claims

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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 赵静王鹏蒋国平徐丰羽丁洁高志峰
Owner NANJING UNIV OF POSTS & TELECOMM
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