Internal model anti-interference control method of quad-rotor unmanned aerial vehicle system

Abstract

The invention provides an unmanned aerial vehicle anti-interference control method based on an internal model control principle. A physical system of an unmanned aerial vehicle is considered. The intelligent control method comprises the steps of establishing an unmanned aerial vehicle dynamics model with external disturbance, building an external disturbance system, designing an unmanned aerial vehicle distributed control algorithm with external disturbance based on theoretical knowledge such as graph theory and convex analysis, further designing a Lyapunov function. The convergence of the designed algorithm is proved through the Lyapunov theorem, it is guaranteed that the state variables of the unmanned aerial vehicle converge to the target, finally the effectiveness and feasibility of the method are verified again through a numerical simulation example, and dynamic tracking of the unmanned aerial vehicle and formation of the unmanned aerial vehicle can be well achieved under the disturbance condition. The control precision of the unmanned aerial vehicle system is improved, and the method has certain practical value in both civil and military aspects.

Description

technical field [0001] The invention belongs to the combination of unmanned aerial vehicle technology and internal model control technology under the consideration of physical system, and relates to a distributed method of internal model anti-disturbance applied to unmanned aerial vehicle when it is subjected to external disturbance. Background technique [0002] Quadrotor aircraft, also known as quadrotor drone, quadrotor helicopter, quadcopter, etc., referred to as quadrotor, is the most typical type of drone in multi-rotor aircraft. Quadrotor UAV has nonlinear, underactuated, and strongly coupled dynamic characteristics, and researchers often use it as an experimental carrier for theoretical research and method verification. For the control problem of quadrotor UAV system with external disturbance, there are many control methods, such as PID control, adaptive control, sliding mode control, robust control, etc., but the control effect brought by each control method is not ...

AI Technical Summary

Problems solved by technology

Due to the problems of poor robustness and low control precision of the UAV system itself, the research on the stable control of UAVs has become one of the key issues in the autonomous flight technology of UAVs.

Although the traditional PID control algorithm can well complete the stable control of the UAV system without considering the external disturbance of the UAV, there are some limitations. Can not meet the ideal control requirements

Therefore, we propose an internal model control strategy that can stabilize the UAV when the actuator has abnormal disturbances, and has no good suppression effect on dynamic disturbances.

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