Tilting quadrotor unmanned aerial vehicle transition flight mode adaptive optimal sliding mode control method based on SDRE

A tilting quadrotor, optimal sliding mode technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problems of large external interference, high noise immunity, complex dynamic characteristics, etc.

Active Publication Date: 2020-11-24
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to solve the situation that the dynamic characteristics of the tilting quadrotor unmanned aerial vehicle are complex, the system structure is uncertain, and the external interference is large. The high immunity of man-machine in transition mode provides an adaptive optimal sliding mode control method based on SDRE for transition flight mode of tilting quadrotor UAV

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  • Tilting quadrotor unmanned aerial vehicle transition flight mode adaptive optimal sliding mode control method based on SDRE
  • Tilting quadrotor unmanned aerial vehicle transition flight mode adaptive optimal sliding mode control method based on SDRE
  • Tilting quadrotor unmanned aerial vehicle transition flight mode adaptive optimal sliding mode control method based on SDRE

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Embodiment Construction

[0088] The present invention will be further described below in conjunction with specific embodiment:

[0089] This embodiment adopts as Figure 4 system structure, such as image 3 The SDRE-based adaptive optimal sliding mode control method for the transitional flight mode of the tilting quadrotor UAV is as follows:

[0090] S1. Establish the dynamics and kinematics model of the tilting quadrotor UAV, namely: {I}={x in the inertial coordinate system i ,y i ,z i}, body coordinate system {B}={x b ,y b ,z b}, {W}={x in wind axis coordinate system w ,y w ,z w} to establish the kinematics and dynamics equations, as follows:

[0091] For the inertial coordinate system {I}={x i ,y i ,z i}, which is a reference coordinate system fixed on the earth, which satisfies the right-hand rule, and the following kinematic equations are obtained, where θ and ψ are the roll, yaw and pitch angles of the UAV in the inertial coordinate system:

[0092]

[0093] For the body coord...

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Abstract

The invention discloses a tilting quadrotor unmanned aerial vehicle transition flight mode adaptive optimal sliding mode control method based on SDRE. In combination with the characteristics of the tilting quadrotor unmanned aerial vehicle, controller design is directly performed for the nonlinear model of the unmanned aerial vehicle, and nonlinear characteristics beneficial to the system are reserved, so that modeling errors introduced during linearization of the model can be effectively avoided. The SDRE method and the sliding mode control are combined, the system moves according to the state track of the preset sliding mode to achieve the optimal performance index, compared with a pure SDRE control method, the calculated amount is reduced, and meanwhile the advantage that the sliding mode control has high robustness on system structure parameter uncertainty and external disturbance is brought into play. And a switching gain adaptive adjustment algorithm is introduced, so that the problem of buffeting of sliding mode control switching is effectively weakened, and the adaptability of the system to disturbance is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an SDRE (State-dependent Riccati equation)-based adaptive optimal sliding mode control method for a tilting quadrotor unmanned aerial vehicle transition flight mode. Background technique [0002] The tilting quadrotor UAV is a UAV with four rotor axes, and the four rotors can adjust the direction. The transition mode of the tilting quadrotor UAV refers to the flight mode between the helicopter mode and the fixed wing flight mode. It can fly as a helicopter or as a fixed-wing aircraft. It combines the convenience of taking off and landing of a helicopter with the advantages of the long range of a fixed-wing aircraft. It has great advantages in development and application. [0003] However, the tilting quadrotor UAV adopts a multivariable, strongly coupled, multimodal, and nonlinear high-order system, which is a typical complex controlled object. When the rotor of the tilt-r...

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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 徐胜苏成悦陈元电
Owner GUANGDONG UNIV OF TECH
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