Quadrotor sliding mode anti-interference control method based on acceleration feedback

Abstract

The invention provides a quad-rotor sliding mode anti-interference control method based on acceleration feedback, and the method comprises the steps: S1, determining the parameters of a quad-rotor platform, and building a quad-rotor kinetic model with uncertain interference based on a Newton-Euler equation according to the obtained parameters; s2, solving input torques of three channels of the four rotors according to the established model; s3, acquiring an acceleration feedback item; s4, correcting system output according to the obtained acceleration feedback item, wherein the system output comprises attitude angle expectation and torques of three channels; and S5, completing the control of the four-rotor platform according to the corrected system output. According to the method, the anti-interference control of the four-rotor unmanned aerial vehicle can be simply realized, and the anti-interference capability of the anti-interference control of the four-rotor unmanned aerial vehicle can be improved.

Description

technical field [0001] The invention relates to the technical field of quadrotor anti-jamming control, in particular to a four-rotor sliding mode anti-jamming control method based on acceleration feedback. Background technique [0002] Quadrotor UAVs have been widely used in both civil and military fields because of their simple structure and vertical take-off and landing. As a typical four-input six-output system, the design of its controller is difficult due to its nonlinear, underactuated, strong coupling and other characteristics, and the quadrotor will be subject to various uncertain disturbances in actual flight. [0003] At present, the disturbance suppression methods for quadrotors mainly include control methods based on system dynamic models, such as traditional sliding mode control, backstepping control, and control methods based on disturbance observers, such as active disturbance rejection control (ADRC), combined nonlinear The control method of the disturbance ...

AI Technical Summary

Problems solved by technology

[0004] At present, in the disturbance suppression method for quadrotors in the prior art, the disturbance estimation is inaccurate and the parameter setting is complicated

The traditional sliding mode control strategy is easy to cause chattering due to high-frequency switching, and is not suitable for dealing with large chattering

Backstepping control has certain advantages for non-matching uncertainty problems, but its "differential explosion" problem causes inaccuracy in actual data calculation, and it does not have strong robustness

The active disturbance rejection control (ADRC) based on the extended state observer has too many parameters, and it is very difficult to tune in practical applications

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