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Finite time adaptive control method for four-rotor aircraft based on command filtering

A four-rotor aircraft, adaptive control technology, applied in the direction of adaptive control, attitude control, general control system, etc., can solve the problem that the limited time tracking control of quadrotor aircraft cannot be realized

Active Publication Date: 2020-12-25
SUZHOU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] It is worth pointing out that the above control scheme can only guarantee asymptotic convergence, and cannot realize the limited time tracking control of quadrotor aircraft

Method used

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  • Finite time adaptive control method for four-rotor aircraft based on command filtering
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  • Finite time adaptive control method for four-rotor aircraft based on command filtering

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Embodiment Construction

[0125]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0126] It should be noted that like numerals and lett...

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Abstract

The invention relates to a finite time adaptive control method for a four-rotor aircraft based on command filtering. For the four-rotor aircraft with unknown nonlinear dynamics and external disturbance, a finite time command filtering backstepping method is used to design a position and attitude trajectory tracking controller to realize the fast and accurate control of the four-rotor aircraft; a finite time command filter is introduced to realize the fast approximation of a virtual control signal derivative, and thus a dimension explosion problem is effectively avoided; a new fractional ordererror compensation mechanism is designed to quickly remove a filtering error influence, and the control performance of the four-rotor aircraft is further improved; and a finite time stability theory is used to strictly prove that all signal finite time in a closed loop system is bounded, and a position and attitude tracking error is converged to a neighborhood near an origin in finite time. The effectiveness of a control scheme is verified through a simulation comparison example.

Description

technical field [0001] The invention relates to a limited-time self-adaptive control method for a quadrotor aircraft based on command filtering. Background technique [0002] Quadrotor aircraft has attracted extensive attention from researchers due to its simple structure, efficient deployment, and flexible control, and has been widely used in aerial photography, smart transportation, urban fire protection, and cargo transportation. However, there are problems such as parameter uncertainty, underactuation, and strong coupling characteristics in the quadrotor aircraft system. How to design and realize its high-quality flight is a challenging problem in the field of control. [0003] In order to improve the control performance of quadrotor aircraft, some scholars have conducted a lot of research and proposed various effective nonlinear control algorithms. When the aircraft is affected by parameter uncertainty and air resistance, some scholars use sliding mode control technolo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/08G05B13/04
CPCG05D1/101G05D1/0825G05B13/045G05B13/0275
Inventor 崔国增杨伟李泽陶重犇
Owner SUZHOU UNIV OF SCI & TECH