Finite-time adaptive control method for quadrotor aircraft based on command filtering
A quadrotor aircraft, adaptive control technology, applied in the direction of adaptive control, attitude control, general control system, etc., can solve the problem of unable to realize the limited time tracking control of quadrotor aircraft, to avoid buffeting phenomenon, weaken the limitation conditions , the effect of fast and precise control
Active Publication Date: 2022-04-29
SUZHOU UNIV OF SCI & TECH
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[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
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[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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The invention relates to a finite-time adaptive control method for a four-rotor aircraft based on command filtering. For a quad-rotor aircraft with unknown nonlinear dynamics and external disturbances, the position and attitude trajectory tracking controller is designed by using the finite-time command filtering backstepping method to realize four-rotor control. The fast and precise control of the rotorcraft; the introduction of a finite time command filter to realize the rapid approximation of the derivative of the virtual control signal, thereby effectively avoiding the problem of dimension explosion; the design of a new fractional error compensation mechanism to quickly remove the influence of filtering errors, further Improve the control performance of quadrotor aircraft; use the finite-time stability theory to strictly prove that all signals in the closed-loop system are bounded in finite time, and the position and attitude tracking errors converge to the neighborhood near the origin within a finite time; compare examples through simulation Verify the effectiveness of the control program.
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 issue 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 technology...
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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