Four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback

A technology of output feedback and quadrotor aircraft, which is applied in attitude control, non-electric variable control, control/regulation system, etc., and can solve problems such as model parameter uncertainty

Active Publication Date: 2020-10-13
NORTHEAST DIANLI UNIVERSITY +2
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AI Technical Summary

Problems solved by technology

[0005] In order to solve the deficiencies in the prior art, the present invention aims at the problem of model parameter uncertainty existing in the quadrotor aircraft system, and aims to provide an adaptive output feedback fuzzy dynamic surface with good robustness and satisfying preset tracking performance. sliding mode controller

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  • Four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback
  • Four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback
  • Four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback

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Embodiment Construction

[0254] Use the attached Figure 1-15 The invention is further explained by the semi-physical simulation experiment. The four-rotor adaptive dynamic surface sliding mode controller based on output feedback includes the following steps:

[0255] Step 1) Construct a quadrotor aircraft system model with model parameter uncertainty as shown in formula 1:

[0256]

[0257] The considered quadrotor has the following nonlinear form:

[0258]

[0259] in, is the state variable, and the symbols φ, θ, ψ represent roll angle, pitch angle and yaw angle. The symbols x, y, z represent the horizontal position and height relative to the ground coordinate system. U=[U 1 ,U 2 ,U 3 ,U 4 ] T is the control input signal of the quadrotor, and the function f and function g represent nonlinear smooth functions. In order to facilitate the controller design of the position subsystem and the attitude subsystem, it can be written in the form of state space:

[0260]

[0261] where g i...

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Abstract

The invention discloses a four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback. The four-rotor self-adaptive dynamic surface sliding mode controller comprises thefollowing steps: 1) constructing a four-rotor system model containing model parameter uncertainty; 2) introducing an error performance function, converting the tracking error of the four-rotor systeminto a new error constraint variable, and ensuring that the system achieves predetermined tracking performance; 3) designing a fuzzy logic system approximator for approximating complex and uncertain unknown items existing in the four-rotor aircraft, and replacing each item of the estimated weight vector with a norm of the estimated weight; 4) designing a nonlinear state observer to estimate the unmeasurable angular velocity state of the four-rotor aircraft; and 5) combining the dynamic surface with sliding mode control, and designing the four-rotor adaptive fuzzy dynamic surface sliding mode controller based on output feedback. The controller designed by the invention can ensure the flight quality of the four rotors, improve the robustness of the system, and realize that the tracking effect meets the preset conditions.

Description

technical field [0001] The invention belongs to the field of four-rotor aircraft control systems, and in particular relates to an intelligent control algorithm, that is, a four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback. Background technique [0002] As a new product in the field of small unmanned aerial vehicle (UAV), quadrotor aircraft (UAV) has become a research hotspot of researchers and scholars all over the world. The main advantages of quadrotor aircraft are: flying in any direction, vertical take-off and landing, hovering with ideal attitude, etc., which makes quadrotor aircraft widely used in many fields, such as providing medical assistance, transporting special resources, disaster monitoring and Agricultural drawing, etc. However, due to the multivariable, nonlinear, underactuated, and strongly coupled characteristics of the quadrotor aircraft system, it is very difficult to design an effective and robust flight controlle...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101Y02T90/00
Inventor 祝国强王森张秀宇张欢孙灵芳王建国王松寒
Owner NORTHEAST DIANLI UNIVERSITY
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