Flapping wing flight attitude control method based on L1 self-adaption

Abstract

The invention discloses a flapping wing flight attitude control method based on L1 self-adaption. The method comprises the following steps: step 1, establishing a flapping wing flight motion model; step 2, constructing an L1AC self-adaptive controller; step 3, bionic flapping wing flight L1 adaptive control is carried out, and the established actual flapping wing flight dynamics model is verified; and step 4, simulation analysis and calculation are carried out, actual parameters of the ornithopter are input into the control model, and the validity of the constructed L1AC adaptive controller in platform application is verified. The method has the following advantages: the L1 adaptive control method is applied to flapping wing flight attitude control, a flapping wing flight attitude control system is built according to the established flapping wing kinetic model, adaptive control adjusts parameter estimation according to a control law, it is ensured that the output error of a state predictor and a controlled object is stable under the Lyapunov meaning, and the stability of the flapping wing flight attitude control system is ensured. And thus, a control law is obtained.

Description

technical field [0001] The invention is an L1 self-adaptive flapping-wing flight attitude control method, which belongs to the field of unmanned aerial vehicle control. Background technique [0002] Flapping-wing flight control is a typical high-order uncertain nonlinear control problem. The flapping-wing aircraft relies on the rapid flapping of the wings to generate the power required for flight. The aircraft itself needs to use flexible and lightweight materials to improve flight efficiency, but flexible and lightweight The fuselage is easily disturbed by external forces, resulting in unstable flight. At the same time, the rapid flapping of the wings during flapping flight will cause a large vibration of the whole system. Self-vibration and external force disturbance will cause the performance of sensors and actuators to decline, and the measurement error of motion parameters will increase. Therefore, the attitude control of the flapping-wing aircraft requires a control a...

AI Technical Summary

Problems solved by technology

[0010] Most of the above-mentioned flight control methods for flapping wings only solve the attitude control problem of flapping wing flight in one dimension, and do not adjust the flight attitude in a timely manner according to changes in the external environment. vibration problem

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