Microminiature unmanned helicopter nonlinear control method based on iterative learning
An unmanned helicopter, nonlinear control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as difficult to obtain dynamic model, lack of anti-interference ability, and failure to consider external disturbance of the system , to achieve good control accuracy and strong robustness
Active Publication Date: 2021-09-07
TIANJIN UNIV
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[0005] In summary, researchers have made some achievements in the research on the control of single-rotor unmanned helicopters, but there are still some limitations: 1) It relies heavily on the precise dynamic model of single-rotor unmanned helicopters, but considering the actual flight During the 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 better flight performance
2) Most learning control algorithms lack anti-interference ability, and do not take into account the external disturbance of the system during the actual flight
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[0067] The technical scheme adopted in the present invention is: aiming at the attitude channel of the miniature unmanned helicopter, a dynamic model containing model uncertainty and external disturbance is established. And considering that the accurate model is difficult to obtain and the existence of external unknown disturbances, a control method based on iterative learning is designed. Including the following steps:
[0068] Step 1) Establish a micro unmanned helicopter dynamics model
[0069] In order to better describe the dynamics and kinematics model of the miniature unmanned helicopter, first define two coordinate systems such as figure 1 shown. figure 1 In {I}={o I ,X I ,Y I ,Z I} and {B} = {o B ,X B ,Y B ,Z B} represent the inertial coordinate system and the body coordinate system with the origin at the ground and the center of the body, respectively. where o B Indicates the center of mass of the tiny unmanned helicopter. Vector η = [φ θ ψ] T Indicates...
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The invention relates to nonlinear control of a microminiature unmanned helicopter, and aims to overcome the defects in the prior art, reduce the dependence of a single-rotor unmanned helicopter on a system model and improve the stability and robustness of the single-rotor unmanned helicopter in the actual flight process. The invention discloses a microminiature unmanned helicopter nonlinear control method based on iterative learning, wherein the method comprises the following steps: 1), guaranteeing the tracking convergence of a system state through employing a control algorithm based on iterative learning on the premise that a system model is uncertain and parameters are unknown; 2) integrating a sliding mode control algorithm to enhance the robustness of the single-rotor unmanned helicopter to external disturbance of the system, and compensating the model approximation error in the step 1) at the same time; and 3) carrying out flight verification on the proposed control algorithm on a simulation experiment platform. The method is mainly applied to nonlinear control occasions of microminiature unmanned helicopters.
Description
technical field [0001] The invention relates to the nonlinear control of a miniature unmanned helicopter. Aiming at the situation that the precise model of the micro unmanned helicopter system is difficult to obtain and there are external disturbances, a control algorithm based on the combination of iterative learning and sliding mode algorithm is proposed. This method uses a data-driven iterative learning control method to estimate the unmodeled attitude model of the micro unmanned helicopter in real time, and uses a sliding mode algorithm control method to compensate the estimation error and external disturbance, and realizes the attitude tracking of the micro unmanned helicopter control, and has a certain robustness to external disturbances. Specifically, it relates to an attitude control method of a miniature unmanned helicopter based on iterative learning. Background technique [0002] In recent years, with the rapid development of microelectronic systems and automati...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 鲜斌张旭
Owner TIANJIN UNIV