Tilting type three-rotor unmanned aerial vehicle trajectory tracking control method based on observer

Abstract

The invention relates to nonlinear control of a tilting three-rotor unmanned aerial vehicle, and aims to consider the influence of external disturbance on position control of the tilting three-rotor unmanned aerial vehicle, coordinate the relation between a position subsystem and an attitude subsystem and realize accurate control. The invention discloses a tilting type three-rotor unmanned aerial vehicle trajectory tracking control method based on an observer, and the method comprises the steps: firstly designing a position controller based on a backstepping method, and giving a given attitude angle of an inner ring attitude subsystem; then, a finite time convergence observer is designed to compensate for external disturbance, attitude tracking errors are asymptotically converged in combination with a robust controller based on a sliding mode, and finally trajectory tracking control over the tilting type three-rotor unmanned aerial vehicle is achieved. 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. Specifically, it relates to an observer-based robust control method for trajectory tracking of a tilting trirotor UAV. Background technique [0002] In the past ten years, with the development of automatic control technology, multi-rotor UAVs have been widely used in many fields, such as military, agriculture, air transportation, etc. (Journal: IEEE Transactions on Industrial Electronics ; Author: S.Yang and B.Xian.; Year of publication: March 2019; Article title: Energy-based nonlinear adaptive control design for the quadrotor UAV system with suspended payload; Page number: 2054-2064). The tilting three-rotor drone is a new type of multi-rotor drone that has emerged in recent years. Compared with other types of multi-rotor drones, it has a more compact structure on the basis of vertical take-off and landing capabilities. , smaller energy consumption and longer batte...

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Problems solved by technology

[0004] Based on the above literature, it can be seen that some achievements have been made in the research on the position control of tilting trirotor UAVs, but the following problems still exist: 1) In the existing research results, little consideration has been given to the impact of external disturbances on the tilting The influence of the position control of the three-rotor UAV, which is an important issue in practical applications

2) Regarding the underactuated characteristics of the tilting trirotor UAV, most of the literature on its position control does not give a detailed account of the relationship between its position subsystem and attitude subsystem

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