Quadrotor attitude control method based on adaptive and non-fragile finite-time convergence

By adopting adaptive and non-fragile finite time convergence control methods on quadrotor drones, the problem of quadrotor quickly adjusting attitude in a short time is solved, achieving higher transient performance and rapid convergence capability.

CN119045516BActive Publication Date: 2025-03-28SHANGHAI RUISHENGLIAN INFORMATION TECH CO LTD
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Patent Information

Application Number
CN202411152792.4
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-08-21
Publication Date
2025-03-28
Estimated Expiration
2044-08-21

AI Technical Summary

Technical Problem

During autonomous flight, it is difficult for the four-rotor drone to quickly adjust its attitude in a short time, resulting in insufficient transient performance, especially in emergency situations that cannot quickly converge to the set value.

Method used

Adaptive and non-frailty finite time convergence control method is adopted, and the mathematical model of the four-rotor is obtained, divided into position subsystem and attitude subsystem, and the controller is designed separately to suppress controller perturbation and improve transient performance.

Benefits of technology

While suppressing the disturbance of the controller, the controller is reduced due to physical and mechanical interference sensitivity, and the four-rotor is quickly and stably converging in a short time, improving transient performance.

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Abstract

The present invention relates to the field of drone control technology, and in particular provides a quadrotor attitude control method based on adaptive and non-fragile finite-time convergence. The method includes obtaining a mathematical model of a quadrotor drone; dividing the quadrotor drone into a position subsystem and an attitude subsystem, and designing controllers for each of them. The method suppresses the influence of controller perturbation, reduces the sensitivity of the controller to physical mechanical interference, and improves transient performance.
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