Tilting three-rotor unmanned aerial vehicle nonlinear control method based on data driving

Abstract

The invention relates to nonlinear control of a tilting three-rotor unmanned aerial vehicle, aims to realize stabilization control of the attitude and height direction of the tilting three-rotor unmanned aerial vehicle, and has certain robustness to external disturbance. Therefore, the technical scheme adopted by the invention is as follows: on the basis of a dynamic model of the tilting three-rotor unmanned aerial vehicle, 1) on the premise that parameters of the dynamic model are unknown, a model-free adaptive control method based on data driving is used for ensuring system state tracking convergence; and 2) discrete adaptive sliding mode control is integrated to enhance the robustness of the tilting three-rotor unmanned aerial vehicle to external disturbance of the system, and meanwhile, the model approximation error in the step 1) is compensated, so that nonlinear control of the tilting three-rotor unmanned aerial vehicle is realized. The method is mainly applied to the nonlinear control occasion of the tilting three-rotor unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the nonlinear control of a tilting three-rotor UAV, in particular to a data-driven nonlinear control method for a tilting three-rotor UAV. Background technique [0002] In recent years, with the rapid development of MEMS and automatic control, multi-rotor UAVs have received more and more attention due to their good maneuverability and stability. At present, it has been widely used in many fields such as high-altitude photography, bridge survey, agricultural irrigation and so on. Compared with other multi-rotor UAVs, the tilting tri-rotor UAV retains the function of vertical take-off and landing, and its mechanical structure is more compact, which greatly improves the endurance of the system and is more suitable for industrial applications (conference: In Proceedings of the 2005 IEEE International Conference on Robotics and Automation; Authors: S.Salazar-Cruz and R.Lozano.; Year and Month of Publication: April 2005; Article Tit...

AI Technical Summary

Problems solved by technology

[0005] To sum up, researchers have made some achievements in the research on the control of tilting trirotor UAVs, but there are still some limitations: 1) It relies heavily on the precise dynamic model of tilting trirotor UAVs, but When considering the actual flight process, on the one hand, it is difficult to obtain an accurate dynamic model of the system, and on the other hand, the controller does not consider the high-frequency unmodeled dynamics in the system, which will make it difficult for the above control method to ensure a better flight performance

2) Most nonlinear control algorithms only stay at the numerical simulation level, and do not take into account the external disturbance of the system during the actual flight process

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