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Fixed time control method of quad-rotor unmanned aerial vehicle

A quad-rotor UAV, fixed-time technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as impossible realization, achieve fast convergence speed, high observation accuracy, and solve singularity effect of the problem

Pending Publication Date: 2021-05-25
TIANJIN UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Most of the traditional nonlinear control strategies are designed based on the tracking error obtained by subtracting the system output from the target value, and the performance of the control system is improved by adjusting the control parameters, but it is almost impossible to make the system meet multiple predetermined performance indicators at the same time only by adjusting the parameters.

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  • Fixed time control method of quad-rotor unmanned aerial vehicle
  • Fixed time control method of quad-rotor unmanned aerial vehicle
  • Fixed time control method of quad-rotor unmanned aerial vehicle

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Embodiment Construction

[0109] A fixed-time control method for a four-rotor unmanned aerial vehicle, characterized in that: comprising the following steps:

[0110] Step 1: Establish the dynamic model of the quadrotor UAV, and calculate the target tracking value of pitch angle and roll angle;

[0111] figure 1 a and figure 1 b shows a schematic diagram of an "X" quadrotor UAV, which has a common position x, y, z and attitude angle Six degrees of freedom, and realize translation and rotation by adjusting the speed of the four rotors. Where oxyz is the body coordinate system; O e x e Y e Z e is the ground coordinate system.

[0112] The dynamic model of the quadrotor UAV can be expressed as

[0113]

[0114] Among them, s(·), c(·) are the abbreviations of sin(·), cos(·) respectively; respectively represent the position and attitude angle (roll, pitch, yaw) of the quadrotor UAV; g is the acceleration of gravity; is the external disturbance; I x , Iy , I z are the moments of inertia alo...

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Abstract

The invention relates to the technical field of quad-rotor unmanned aerial vehicle trajectory tracking control, in particular to a fixed time control method of a quad-rotor unmanned aerial vehicle. The method comprises the following steps: establishing a kinetic model of a quad-rotor unmanned aerial vehicle, and calculating target tracking values of a pitch angle and a roll angle; designing a tracking error performance function based on the kinetic model established in the step 1, achieving predetermined performance, and converting a tracking error; designing a fixed time expansion state observer, and calculating the fixed time TFxTESO; based on the tracking error performance function in the step 2 and the fixed time expansion state observer in the step 3, designing a fixed time nonsingular terminal sliding mode controller, and calculating the fixed time TFxTNTSMC. Compared with traditional sliding mode control, the fixed-time nonsingular terminal sliding mode controller designed in the invention not only can achieve fixed-time convergence, but also ingeniously solves the problem of singularity existing in the calculation process of the sliding mode reaching law by introducing a piecewise function rho (x).

Description

technical field [0001] The invention relates to the technical field of trajectory tracking control of quadrotor UAVs, in particular to a fixed-time control method for quadrotor UAVs. Background technique [0002] In recent years, with the application of new materials, the improvement of battery performance, and the advancement of sensor technology and control methods, quadrotor UAVs have developed rapidly due to their advantages such as simple structure, flexibility and stability, and vertical take-off and landing. It has been widely used in business and daily life, such as battlefield exploration, aerial photography, fire safety, etc. When the rotor rotates at high speed, there will be a large air resistance, which will have an adverse effect on the trajectory tracking performance of the quadrotor UAV; at the same time, due to the special requirements of the To change the target, certain transient tracking performance requirements must be met; in addition, due to the nonli...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 崔磊候秀英
Owner TIANJIN UNIV