Non-singular preset time quadrotor unmanned aerial vehicle attitude tracking control method

Abstract

The invention discloses a non-singular preset time quadrotor unmanned aerial vehicle attitude tracking control method. The method comprises the following steps: S1, introducing a Lagrange system model of a quadrotor unmanned aerial vehicle attitude control system based on attitude data including a roll angle, a pitch angle and a yaw angle measured by sensors such as a gyroscope installed on an unmanned aerial vehicle, and combining the error variables to obtain an error dynamic model; s2, generating a non-singular preset time controller according to the data in the step S1; s3, based on the non-singular preset time controller, controlling the attitude of the quadrotor unmanned aerial vehicle to track an expected attitude within a preset time. The method has the advantages that based on the feedback control technology, the non-singular preset time controller is generated through the preset time control concept, so that it is guaranteed that the attitude error of the quadrotor unmanned aerial vehicle can be converged to a neighborhood of an original point within the preset time under the condition that external interference exists, and high-precision attitude tracking is achieved.

Description

technical field [0001] The invention relates to the field of attitude tracking control of a quadrotor UAV attitude system, in particular to a non-singular preset time attitude tracking control method for a quadrotor UAV attitude control system. Background technique [0002] Due to its excellent performance, quadrotor UAV has quickly gained attention from all walks of life and has become a research hotspot. Compared with fixed-wing drones, it has the advantages of vertical take-off and landing, and hovering in the air; compared with single-rotor unmanned helicopters, it has the advantages of simpler mechanical structure, better safety and lower manufacturing costs. Therefore, in recent years, quadrotor drones have been used in fields such as plant protection, formation performances, forest fire fighting, and logistics distribution. However, since the control system of the quadrotor UAV is a typical nonlinear system, and there will always be disturbances such as wind in the f...

AI Technical Summary

Problems solved by technology

However, the author mentioned that when there is measurement noise in the system state, that is, when the state information measured by the system deviates, the system will have a singularity problem

At the same time, since the sampling period in the actual control system cannot be set infinitely small, it can only ensure that the system state error converges to a neighborhood of the origin, so the system still has singular problems

[0004] To sum up, quadrotor drones need to track the desired trajectory at the specified time when performing certain precise tasks, but the existing limited / The fixed-time control scheme cannot guarantee the control objective

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