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Optimal robust control method for transition flight mode of tilting quad-rotor unmanned aerial vehicle based on online approximator

A tilting quadrotor, robust control technology, applied in the field of optimal robust control of tilting quadrotor UAV transition flight mode, can solve the problems of system modeling error, influence system anti-interference, transient disturbance and so on

Active Publication Date: 2020-11-06
GUANGDONG UNIV OF TECH
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Problems solved by technology

Approximating the continuous system conversion with subsystems and switching strategies can simplify analysis and calculation, but still cause system modeling errors, and at the same time control switching will bring transient disturbances, which will affect the system's anti-interference performance

Method used

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  • Optimal robust control method for transition flight mode of tilting quad-rotor unmanned aerial vehicle based on online approximator
  • Optimal robust control method for transition flight mode of tilting quad-rotor unmanned aerial vehicle based on online approximator
  • Optimal robust control method for transition flight mode of tilting quad-rotor unmanned aerial vehicle based on online approximator

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Embodiment Construction

[0090] The present invention will be further described below with reference to the specific embodiments:

[0091] This embodiment is employed Figure 4 System structure, image 3 The optimal robust control method based on the tilted four-rotorless transition flying mode based on the online approximator, the specific process is as follows:

[0092] S1, establish a dynamic model of tilting four-rotorless drone:

[0093] S1-1, first establish a correlation coordinate system of tilting four-rotorless drone, define three coordinate systems:

[0094] Inertial coordinate system: {i} = {x i Y i ,z i }, For the reference coordinate system fixed in the land, meet the right hand;

[0095] Body coordinate system: {b} = {x b Y b ,z b }, Indicating the right angle coordinate system fixed in the unmanned body, OX b The axis of the head direction, OY b The axis is perpendicular to the aircraft reference surface, and it points to the top, OZ b Axis vertical OX b y b The plane, pointing to the right, m...

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Abstract

The invention discloses an optimal robust control method for a transition flight mode of a tilting quad-rotor unmanned aerial vehicle based on an online approximator. By combining the characteristicsof a tilting quad-rotor unmanned aerial vehicle, a controller design is directly carried out on a nonlinear model of the unmanned aerial vehicle, nonlinear characteristics beneficial to the system arereserved, so that modeling errors introduced when the model is linearized are effectively avoided. Furthermore, an optimal robust performance index is constructed, and an optimal robust performance index is achieved by utilizing an optimal control method, so that relatively strong anti-interference capability and robust performance can be realized. Finally, a neural network serves as an approximate optimal robust performance index of the online approximator, optimal robust control input is obtained through a dynamic planning method, the calculated amount is reduced, and the method is suitablefor online operation.

Description

Technical field [0001] Technical Field The present invention relates to UAV control, and more particularly to the optimal robust control method is based on the approximation-line four tilting rotor UAV flight mode transition. Background technique [0002] Tilting Quadrotor UAV, a UAV having four rotor shaft, the rotor can be adjusted four directions, four tilting rotor UAV transition mode means between the fixed-wing flight mode and a helicopter mode the mutual switching process, which can be used as both a helicopter to fly, but also to fixed-wing aircraft to fly, the integration of the advantages of long-range helicopter landing convenient and fixed-wing aircraft, its great development and application advantages. [0003] But tiltrotor UAV controlled object characteristics significantly different, model order high, strong nonlinear characteristics, number of flight mode. In particular, four tilt rotor UAV during the transition mode, significant tension vector control characteri...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/027G05B13/042
Inventor 徐胜苏成悦陈元电
Owner GUANGDONG UNIV OF TECH
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