Design method of attitude subsystem controller for attitude angle control input saturation

Abstract

A design method of an attitude subsystem controller for attitude angle control input saturation is provided, a double-power reaching law sliding mode controller based on an index observer is designed in combination with the index observer and a double-power reaching rate sliding mode control method for a quadrotor unmanned aerial vehicle attitude subsystem; a more accurate attitude angle of the four-rotor unmanned aerial vehicle can be obtained through the designed controller, and the attitude of the unmanned aerial vehicle can be better controlled; an expected attitude angle is given and input into the double-power approaching rate sliding mode controller based on the index observer, interference signals observed by the index observer in the controller are input into the attitude subsystem for interference compensation, and a new attitude angle can be obtained through the attitude subsystem. A new attitude angle signal is input into the designed controller again, closed-loop control is formed, and real-time updating is carried out. The problem of attitude angle control input saturation can be solved, the buffeting defect caused by sliding mode control is weakened to a certain extent, and the control precision and stability of the system can be improved.

Description

technical field [0001] The invention belongs to the technical field of attitude control of four-rotor unmanned aerial vehicles, in particular to an attitude subsystem controller design method aimed at attitude angle control input saturation, which is used to design a dual-power reaching law sliding mode controller (EO) based on an exponential observer. -DSMC). Background technique [0002] UAVs can not only perform military intelligence, reconnaissance and other tasks, but also can be used for irrigation, disaster prevention and early warning, festival performances and so on. In this new crown pneumonia epidemic, drones have also shown their advantages. Due to the simple structure of the quadrotor UAV, it is easy to use and operate, it can also hover, and it can take off and land vertically, so its research has high use value and practical significance. The quadrotor UAV system model has four-input and six-output underactuation and nonlinear characteristics. [0003] Duri...

AI Technical Summary

Problems solved by technology

[0003]During the large-angle turning maneuver flight of the quadrotor UAV, the input saturation for the attitude angle control will cause the angle change range to be too large and cause saturation. The control effect of man-machine is poor, which will bring catastrophe to drone

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