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Quadrotor dynamic surface integral sliding mode controller based on preset tracking error

A tracking error and four-rotor technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as poor robustness, differential explosion, and inability to meet dynamic performance indicators

Active Publication Date: 2020-10-30
NORTHEAST DIANLI UNIVERSITY
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Problems solved by technology

The parameter adjustment of adaptive PID control depends on experience, and its robustness is poor; the feedback linearization method is suitable for linear systems, but it has great limitations for nonlinear control of quadrotors; Multiple derivatives will lead to the problem of differential explosion; although the traditional integral sliding mode control ensures the robustness of the controller, it cannot meet the expected dynamic performance index

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  • Quadrotor dynamic surface integral sliding mode controller based on preset tracking error
  • Quadrotor dynamic surface integral sliding mode controller based on preset tracking error
  • Quadrotor dynamic surface integral sliding mode controller based on preset tracking error

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Embodiment Construction

[0143] Such as figure 1 As shown, the four-rotor dynamic area integral sliding mode controller based on the preset tracking error proposed by the present invention is realized based on the following steps:

[0144] Step 1): Construct the dynamic model of the quadrotor UAV with parameter uncertainty and external disturbance, as shown in formula (54):

[0145]

[0146] in is the state variable; g is the acceleration of gravity; U χ , (χ=1,2,3,4) are four control inputs; d N , (N=1,2,...,6) is the external disturbance, and has the following definition:

[0147]

[0148] Where m is the mass of the quadrotor; Ω χ , (χ=1,2,3,4) is the rotational speed of the four rotors of the aircraft; l k is the distance from the geometric center of the quadrotor to the rotor (m); J x , J y and J z are the moments of inertia of the quadrotor about the X, Y and Z axes, respectively; a μ , (μ=1,2,...,11) are the parameters of the four-rotor mathematical model, and these parameters ha...

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Abstract

The invention discloses a quadrotor dynamic surface integral sliding mode controller based on a preset tracking error. The controller is realized based on the steps of 1) constructing a quadrotor dynamic model considering external disturbance and unknown parameters; 2) based on an approximator of a fuzzy logic system, enabling the approximator to approximate to control input of a quadrotor systemmodel in an ideal state; 3) introducing switching control to compensate an error between input estimated by the fuzzy system and ideal input to obtain accurate actual control input; and 4) combining dynamic surface control with integral sliding mode control, and designing the quadrotor adaptive fuzzy dynamic surface integral sliding mode controller. According to the method, the quadrotor light path can meet the preset tracking error index, the robustness of a control system is improved under the condition that parameters are uncertain and external disturbance exists, and finally, it is guaranteed that all signals of a closed-loop system are finally consistent and bounded.

Description

technical field [0001] The invention belongs to the control field of four-rotor unmanned aerial vehicles, and in particular relates to a four-rotor dynamic area integral sliding mode controller based on preset tracking errors. Background technique [0002] Due to its novel shape, simple structure, low cost and excellent performance, the unique flight control method (flight control is achieved by controlling the speed of the four rotors) is favored by more and more scientific researchers. . However, a quadrotor unmanned aerial vehicle is a typical underactuated system, which has only four input functions but six degrees of freedom of motion. Compared with the full drive system, the control design of the underactuated system is more complicated. At the same time, it also has the characteristics of strong coupling, nonlinearity, multi-variables, and parameter uncertainty, which adds difficulty to the stability control of quadrotor flight. Therefore, it is of great practical ...

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 祝国强徐宁张秀宇孙灵芳彭雅轩李志伟李静
Owner NORTHEAST DIANLI UNIVERSITY
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