An actual sliding mode based quadrotor unmanned aerial vehicle event-triggered intermittent control method and system

Abstract

The application discloses a kind of four-rotor unmanned aerial vehicle event trigger intermittent control method and system based on actual sliding mode, method includes the following steps: the kinematic model of four-rotor unmanned aerial vehicle is established, while introducing attitude error and angular velocity error, and sliding mode controller is designed according to error;Actual sliding mode-intermittent control fusion unit is introduced in sliding mode controller, and intermittent control model is obtained;Numerical simulation verification is carried out to intermittent control model, and parameter adjustment is carried out, and final control model is obtained;The movement of four-rotor unmanned aerial vehicle is controlled using final control model.The application can reduce energy consumption index according to actual demand, through the intermittent control of event trigger;Through dynamic adjustment actual sliding mode boundary parameter α And intermittent control period, adapt to match system real-time dynamics.

Description

Technical Field

[0001] This invention belongs to the field of attitude control technology, specifically relating to an event-triggered intermittent control method and system for a quadrotor unmanned aerial vehicle based on actual sliding mode. Background Technology

[0002] In quadcopter drone flight operations, attitude control must cope with complex disturbances such as strong winds, sensor noise, and motor parameter perturbations, and is limited by the drone's hardware computing power and endurance. Traditional attitude control strategies either rely on continuous control, leading to excessive energy consumption and shortening operation time; or they are only adapted to specific operating conditions, resulting in decreased accuracy when migrating across scenarios, and may also cause Zeno's phenomenon due to dense control actions, damaging hardware and affecting flight safety. Therefore, to achieve high-precision, low-energy attitude control in complex environments, a comprehensive index of "high robustness + low energy consumption + engineering feasibility" needs to be proposed for drone attitude control technology, and a unified control framework adaptable to multiple operating conditions and hardware configurations needs to be constructed. Currently, for quadcopter drone attitude control, there is a lack of a systematic event-triggered intermittent control scheme that can integrate attitude description, disturbance rejection control, and intermittent logic to achieve a balance between accuracy and energy consumption, and ensure engineering feasibility through theoretical derivation and simulation verification. Summary of the Invention

[0003] This invention aims to address the shortcomings of existing technologies and provides the following solutions: An event-triggered intermittent control method for a quadrotor UAV based on actual sliding mode includes the following steps: A kinematic model of a quadcopter UAV is established, and attitude error and angular velocity error are introduced. A sliding mode controller is designed based on the errors. An actual sliding mode-intermittent control fusion unit is introduced into the sliding mode controller to obtain an intermittent control model; The intermittent control model was verified by numerical simulation, and the parameters were adjusted to obtain the final control model. The motion of the quadcopter drone is controlled using the final control model.

[0004] Preferably, the kinematic model includes: in, Represents the angular velocity vector. oh 1 indicates the coordinate system around the body. x Angular velocity in the axial direction, oh 2 indicates the coordinate system around the body. y Angular velocity in the axial direction, oh 3 indicates the coordinate system around the body.z Angular velocity in the axial direction, Describes a symmetric positive definite inertial matrix. Represents the net external torque with respect to angular velocity oh The impact, R Indicates matrix transformation. Represents the control input vector. u 1 indicates control oh Torque input with 1 angular velocity, u 2 indicates control angular velocity oh Torque input of 2, u 3 indicates the control angular velocity oh Torque input of 3, This represents a bounded perturbation vector. d 1 indicates the influence on angular velocity oh 1. External interference, d 2 indicates the influence on angular velocity oh 2. External interference, d 3 indicates the influence on angular velocity oh 3. External interference, Represents a unit quaternion. Represents the rotation axis (x, y, z) and the rotation angle. i Information, q 0 represents , q 1 represents , q 2 indicates , q 3 indicates , express rate of change, Represents an oblique symmetric matrix. express rate of change, T This represents the transpose of a matrix.

[0005] Preferably, the attitude error is: in, Represents the error quaternion. qd Indicates the desired posture, q Indicates real-time attitude, ⨂ represents quaternion multiplication. This represents the rate of change of the imaginary part of the error quaternion. This represents the rate of change of the real part of the error quaternion. This indicates information related to facilitating calculation and setting. e A specific matrix, e 1. Using the error angle τ and the error rotation axis ( l , m , n ) represents , e 2 indicates , e 3 indicates , oh Indicates the error angular velocity. oh Indicates the desired angular velocity; The angular velocity error is: in, This indicates the effect of the net external force on the angular velocity error. express oh Oblique symmetric matrix.

[0006] Preferably, the sliding mode controller is: in, u This represents the control input of the sliding mode controller. λmax { J} represents a matrix J The largest eigenvalue, m Represents scalar ，c Represents a scalar. sgn ( S ) represents the sliding surface S The sign function, K Describes a positive definite matrix. G This represents a specific matrix that is convenient for calculation. d It represents a positive number.

[0007] Preferably, in the actual sliding mode-intermittent control fusion unit, the event triggering mechanism is as follows: When the system state is in the region That is, satisfying At time: Execute the sliding mode controller; When the system state is in the region That is, satisfying When: Turn off the sliding mode controller; When the system state is in the region That is, satisfying Time: If the system state changes from region If the system state changes from the region, the sliding mode controller will continue to be executed; if the system state changes from the region... If the system is transferred from the previous state, the sliding mode controller remains in the off state; if the initial state of the system is located in region [missing information]... ,when The sliding mode controller is executed when the time is right, and shut down when the time is wrong. in, α This represents the actual sliding mode boundary parameters.

[0008] The present invention also provides an event-triggered intermittent control system for a quadcopter UAV based on actual sliding mode. The control system applies the above-mentioned method and includes: a controller construction module, a model construction module, a simulation adjustment module, and a control module. The controller construction module is used to establish the kinematic model of the quadcopter UAV, while introducing attitude error and angular velocity error, and designing a sliding mode controller based on the error; The model building module is used to introduce an actual sliding mode-intermittent control fusion unit into the sliding mode controller to obtain an intermittent control model; The simulation adjustment module is used to perform numerical simulation verification on the intermittent control model and adjust the parameters to obtain the final control model. The control module uses the final control model to control the movement of the quadcopter drone.

[0009] Preferably, in the controller construction module, the kinematic model includes: in, Represents the angular velocity vector. oh 1 indicates the coordinate system around the body. x Angular velocity in the axial direction, oh 2 indicates the coordinate system around the body. y Angular velocity in the axial direction, oh 3 indicates the coordinate system around the body. z Angular velocity in the axial direction, Describes a symmetric positive definite inertial matrix. Represents the net external torque with respect to angular velocity oh The impact, R Indicates matrix transformation. Represents the control input vector. u 1 indicates control oh Torque input with 1 angular velocity, u 2 indicates control angular velocity oh Torque input of 2, u 3 indicates the control angular velocity oh Torque input of 3, This represents a bounded perturbation vector. d 1 indicates the influence on angular velocity oh External interference of 1 d 2 indicates the influence on angular velocity oh 2. External interference, d 3 indicates the influence on angular velocity oh 3. External interference, Represents a unit quaternion. Represents the rotation axis (x, y, z) and the rotation angle. i Information, q 0 represents , q 1 represents , q 2 indicates , q 3 indicates , express rate of change, Represents an oblique symmetric matrix. express rate of change, T This represents the transpose of a matrix.

[0010] Preferably, in the controller construction module, the attitude error is: in, Represents the error quaternion. qd Indicates the desired posture, q Indicates real-time attitude, ⨂ represents quaternion multiplication. This represents the rate of change of the imaginary part of the error quaternion. This represents the rate of change of the real part of the error quaternion. This indicates information related to calculation settings. e A specific matrix, e 1. Using the error angle τ and the error rotation axis ( l , m , n ) represents , e 2 indicates , e 3 indicates , oh Indicates the error angular velocity. ohIndicates the desired angular velocity; The angular velocity error is: in, This indicates the effect of the net external force on the angular velocity error. express oh Oblique symmetric matrix.

[0011] Preferably, in the controller construction module, the sliding mode controller is: in, u This represents the control input of the sliding mode controller. λmax { J} represents a matrix J The largest eigenvalue, m Represents scalar ，c Represents a scalar. sgn ( S ) represents the sliding surface S The sign function, K Describes a positive definite matrix. G This represents a specific matrix that is convenient for calculation. d It represents a positive number.

[0012] Preferably, in the model building module, the event triggering mechanism of the actual sliding mode-intermittent control fusion unit is as follows: When the system state is in the region That is, satisfying At time: Execute the sliding mode controller; When the system state is in the region That is, satisfying When: Turn off the sliding mode controller; When the system state is in the region That is, satisfying Time: If the system state changes from region If the system state changes from the region, the sliding mode controller will continue to be executed; if the system state changes from the region... If the system is transferred from the previous state, the sliding mode controller remains in the off state; if the initial state of the system is located in region [missing information]... ,when The sliding mode controller is executed when the time is right, and shut down when the time is wrong. in, α This represents the actual sliding mode boundary parameters.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention provides an event-triggered intermittent control method for quadrotor UAVs based on actual sliding mode. This method can reduce energy consumption by using event-triggered intermittent control according to actual needs; and can achieve this by dynamically adjusting the actual sliding mode boundary parameters. α With intermittent control cycle, adapt to the real-time dynamics of the matching system: when the system error exceeds the actual sliding mode threshold, high-precision control adjustment is initiated to quickly pull back the error; when the error is within the stable range of the actual sliding mode, switch to intermittent sleep mode to reduce energy consumption and hardware load. Attached Figure Description

[0014] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the method flow according to an embodiment of the present invention; Figure 2 This is a diagram illustrating the degrees of freedom of a quadcopter UAV according to an embodiment of the present invention. Figure 3 A partition diagram is designed for the sliding mode controller in an embodiment of the present invention; Figure 4 This is a simulation error dynamic response diagram of an embodiment of the present invention; Figure 5 This is a dynamic response diagram of the simulated angular velocity error in an embodiment of the present invention; Figure 6 This is a control input diagram according to an embodiment of the present invention; Figure 7 This is a statistical chart of the on / off time according to an embodiment of the present invention; Figure 8 This is a sliding mode variable state diagram according to an embodiment of the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] Example 1 In this embodiment, as Figure 1 As shown, an event-triggered intermittent control method for a quadcopter UAV based on actual sliding mode includes the following steps: S1. Establish a kinematic model of the quadcopter UAV, and introduce attitude error and angular velocity error, and design a sliding mode controller based on the error.

[0019] In this embodiment, the two types of coordinate systems of the quadcopter UAV are as follows: Figure 2 As shown. Specifically, the inertial coordinate system is denoted as... The body coordinate system is denoted as The deflection of the body coordinate system relative to the inertial coordinate system is commonly expressed using Euler angles (roll angles). Pitch angle Yaw angle The rotation order of the three axes is typically ZYX (yaw → pitch → roll). Attitude descriptions use non-singular quaternions, coordinate system transformations use rotation matrices, and all attitude descriptions are standardized and mutually convertible. The UAV attitude and quaternion kinematics model employs the classic Newton-Euler equations and unit quaternion update equations.

[0020] Kinematic models include: in, Represents the angular velocity vector. oh 1 indicates the coordinate system around the body. x Angular velocity in the axial direction, oh 2 indicates the coordinate system around the body. y Angular velocity in the axial direction, oh 3 indicates the coordinate system around the body. z Angular velocity in the axial direction, Describes a symmetric positive definite inertial matrix. Represents the net external torque with respect to angular velocity oh The impact, R Indicates matrix transformation. Represents the control input vector. u 1 indicates control oh Torque input with 1 angular velocity, u 2 indicates control angular velocity oh Torque input of 2, u 3 indicates the control angular velocity oh Torque input of 3, This represents a bounded perturbation vector. d 1 indicates the influence on angular velocity oh 1. External interference, d 2 indicates the influence on angular velocity oh 2. External interference, d 3 indicates the influence on angular velocity oh 3. External interference, Represents a unit quaternion. Represents the rotation axis (x, y, z) and the rotation angle. i Information, q 0 represents , q 1 represents , q 2 indicates , q 3 indicates , express rate of change, Represents an oblique symmetric matrix. express rate of change, T This represents the transpose of a matrix.

[0021] In this embodiment, the definition of an oblique-symmetric matrix (anti-symmetric matrix) is as follows: Furthermore, the error quaternion can be defined as , qd Indicates the desired posture, q This represents the real-time attitude, where ⨂ represents quaternion multiplication. Error angular velocity. , oh This represents the desired angular velocity.

[0022] The attitude error is: in, This represents the rate of change of the imaginary part of the error quaternion. This represents the rate of change of the real part of the error quaternion. This indicates information related to calculation settings. e A specific matrix, e 1. Using the error angle τ and the error rotation axis ( l , m , n ) represents , e 2 indicates , e 3 indicates ; The angular velocity error is: in, This indicates the effect of the net external force on the angular velocity error. express oh Oblique symmetric matrix.

[0023] Setting actual sliding mode boundary parameters α In this case, attitude error and angular velocity error eventually become bounded: in, The L2 norm represents the attitude error. The L2 norm represents the error angular velocity.

[0024] Design the sliding surface: in, This represents a positive definite matrix. Sliding mode control works by directing the control input toward a predetermined sliding surface, where the system automatically converges, thus eliminating errors.

[0025] First, we prove convergence on the sliding surface using Lyapunov functions. The function is constructed as follows: Assuming the system state remains constant on the sliding mode surface, differentiating the constructed Lyapunov function yields: Lyapunov's stability lemma states that if there exists a positive definite function... V ( x Its derivative If the equilibrium is negative, then the equilibrium point of the system is asymptotically stable.

[0026] because K It is positive definite, therefore That is, when t→∞ V 1→0, at which point the error is eliminated.

[0027] Convergence on the sliding surface has been proven; now, a controller is designed to make the system state tend toward the sliding surface.

[0028] The following assumptions are made: the angular velocity error is measurable and bounded. The interference is bounded. .

[0029] Lemma: For a symmetric positive definite matrix J There must exist an orthogonal matrix. P , making in for ( i The matrix is ​​composed of elements 1, 2, and 3. J The eigenvalues ​​of . Then for any vector All satisfy the inequality: in, λmin Represents the smallest eigenvalue. λmax This represents the largest eigenvalue.

[0030] The sliding mode controller is designed as follows: in, u This represents the control input of the sliding mode controller. λmax { J} represents a matrix J The largest eigenvalue, m Represents scalar ，c Represents a scalar. sgn ( S ) represents the sliding surface S The sign function, G This represents a specific matrix that is convenient for calculation. d It represents a positive number.

[0031] set up: Due to the cross product property ,therefore: Due to the properties of the second norm Under the previous assumptions: At this point, the convergence of the sliding surface motion has been proven, and the entire sliding mode controller design has been successfully implemented.

[0032] S2. Introduce an actual sliding mode-intermittent control fusion unit into the sliding mode controller to obtain the intermittent control model.

[0033] Having obtained the continuous control sliding mode controller in step S1, the actual sliding mode-intermittent control fusion unit is introduced below. Based on the sliding surface... S The scale is used to define different control regions for sliding mode control of intermittent control strategies and to verify the feasibility of these regions.

[0034] Specifically, in the actual sliding mode-intermittent control fusion unit, the event triggering mechanism is as follows: When the system state is in the region That is, satisfying At time: Execute the sliding mode controller; When the system state is in the region That is, satisfying Time: Turn off the sliding mode controller; When the system state is in the region That is, satisfying Time: If the system state changes from region If the state is transferred, the sliding mode controller will continue to be executed; if the system state changes from the region... If the system is transferred from another region, the sliding mode controller remains off; if the initial state of the system is in the region... ,when The sliding mode controller is activated when the time is right, and deactivated otherwise; where, α This represents the actual sliding mode boundary parameters.

[0035] In addition, the region , , The distribution is as follows Figure 3 As shown, the division is based on the state of the control switch. The sub-regions are specially marked with blue shading. Next, the robust stability conclusions of the studied UAV system are derived, and the exclusion of Zeno's phenomenon is demonstrated.

[0036] In the region The system trajectory reaches the region within a finite time under the action of the controller. Afterwards, the controller is shut down, and the system automatically evolves, gradually entering the region. Entering the area At this point, the controller is activated and returns to the area. If the system trajectory is initially located in the region According to the intermittent control mechanism, the controller will be triggered to start, and the system state will approach the sliding surface and enter the region within a finite time. Once the trajectory enters In this region, the system will follow the same cyclical process as before. If the initial trajectory of the system is located in this region... The loop process begins immediately. This is as long as the system trajectory remains within the allowable range. , Within the system, the sliding model will automatically converge, thus eliminating errors.

[0037] Review of Lyapunov functions VThe construction of 1, under intermittent control (where the controller is not always on), can be further derived into the formula (under intermittent control). ): According to the Lyapunov function stability principle, when , This indicates that the system state will continue to converge until... It may grow afterward, but Ultimately, there are limits. Furthermore: This proves the boundedness of the error. Next, we prove how to avoid the Zeno phenomenon.

[0038] The event interval refers to the time period between two consecutive triggered events, that is, the time interval between a control activation event and a control deactivation event (or vice versa). Let's define the minimum activation time. Ton To control the minimum duration between an activation event and its subsequent deactivation event, the controller maintains the active state during this time period. Additionally, a minimum shutdown time is specified. Toff To control the duration between an inactivation event and its subsequent activation event, the control remains inactive during this time period. The minimum event interval is defined as follows: To avoid the Zeno phenomenon and the infinitely high frequency switching of control, a positive minimum event interval must be guaranteed.

[0039] First, to solve for the minimum shutdown time Toff The lower bound needs to be calculated under the condition that the input is equivalent to 0, the system state changes from the region Internal satisfaction The state evolved to Required time. Assume the initial state of the system satisfies ,in This is the initial time. Then, during the shutdown time... Toff Within, the sliding mode variable S needs to be from Evolved to During time T_off, the system satisfies: The norm can be derived. The changing pattern satisfies: Based on the previous assumptions about angular velocity error, we can obtain: It can be deduced Furthermore, if the initial state satisfies Then it is necessary to analyze the system state from the region within (in Evolved to This situation, when analyzed using a similar method, leads to the following conclusion. .because Therefore, there are two cases. Next, we further solve for the minimum opening time. Ton In practice, it is necessary to calculate the system state from the region under the action of the controller. Internal satisfaction State evolution to Required time. Assume the initial state of the system satisfies Then the sliding mode variable S From Change to When the control command is activated, the maximum rate of change of the sliding mode variable can be derived as follows: Thus we can obtain .

[0040] Furthermore, if the initial state satisfies Then it is necessary to analyze the system state from the region within (in Evolved to This situation, when analyzed using a similar method, leads to the following conclusion. .because Therefore, there are two cases. .

[0041] In summary, minimum event interval time There exists a positive lower bound, which avoids the Zeno phenomenon.

[0042] S3. Perform numerical simulation verification on the intermittent control model and adjust the parameters to obtain the final control model.

[0043] In this embodiment, a simulation example using Matlab will be conducted to verify the effectiveness of the research method. The dynamic and kinematic models are as shown above, and the parameters are quantified. Rotational inertia matrix parameters: Other parameters Initial attitude error e 0 = 0.8832, initial angular velocity Sliding mode matrix .

[0044] Actual sliding mode boundary parameters α =0.3, actual sliding mode parameters d =0.5, control gain specified as and In addition, the total simulation time is set to... Sampling step size h =0.001 s .

[0045] Both the error quaternion and the error angular velocity are ultimately bounded, and their dynamic responses are as follows: Figure 4 and Figure 5 As shown, the results demonstrate that the aforementioned controller can achieve attitude tracking control. Furthermore, Figure 6 The control input is given. u 1. u 2. u 3. Characteristics of changes in control state (where 1 represents activation and 0 represents deactivation). Figure 7 The on / off time is given, and from Figure 8 The system state is also clearly visible, with the control state exhibiting obvious intermittent characteristics and event intervals. Tint The existence of a positive lower bound effectively avoids the Zeno phenomenon.

[0046] Compared with existing UAV sliding mode control strategies, the control shutdown duration design of the control strategy proposed in this embodiment has significant rationality and effectiveness. In intermittent control strategies, due to the lack of control input, the tracking error of the UAV system typically exhibits a gradually increasing growth rate during the control shutdown period. Therefore, timely intervention and adjustment when the error trajectory reaches a preset threshold (i.e., the actual sliding mode boundary) can effectively avoid the significant risks that may be caused by system instability with lower control costs.

[0047] S4. Use the final control model to control the motion of the quadcopter drone.

[0048] Example 2 In this embodiment, a quadcopter UAV event-triggered intermittent control system based on actual sliding mode includes: a controller construction module, a model construction module, a simulation adjustment module, and a control module.

[0049] The controller building module is used to build the kinematic model of the quadcopter UAV, while introducing attitude error and angular velocity error, and designing a sliding mode controller based on the error.

[0050] In the controller building module, the kinematic model includes: in, Represents the angular velocity vector. oh 1 indicates the coordinate system around the body. x Angular velocity in the axial direction, oh 2 indicates the coordinate system around the body. y Angular velocity in the axial direction, oh 3 indicates the coordinate system around the body. z Angular velocity in the axial direction, Describes a symmetric positive definite inertial matrix. Represents the net external torque with respect to angular velocity oh The impact, R Indicates matrix transformation. Represents the control input vector. u 1 indicates control oh Torque input with 1 angular velocity, u 2 indicates control angular velocity oh Torque input of 2, u 3 indicates the control angular velocity oh Torque input of 3, This represents a bounded perturbation vector. d 1 indicates the influence on angular velocity oh External interference of 1 d 2 indicates the influence on angular velocity oh 2. External interference, d 3 indicates the influence on angular velocity oh 3. External interference, Represents a unit quaternion. Represents the rotation axis (x, y, z) and the rotation angle. i Information, q 0 represents , q 1 represents , q 2 indicates , q 3 indicates , express rate of change, Represents an oblique symmetric matrix. express rate of change, T This represents the transpose of a matrix.

[0051] In the controller building module, the attitude error is: in, Represents the error quaternion. qd Indicates the desired posture, q Indicates real-time attitude, ⨂ represents quaternion multiplication. This represents the rate of change of the imaginary part of the error quaternion. This represents the rate of change of the real part of the error quaternion. This indicates information related to calculation settings. e A specific matrix, e 1. Using the error angle τ and the error rotation axis ( l , m , n ) represents , e 2 indicates , e 3 indicates , oh Indicates the error angular velocity. oh This represents the desired angular velocity; the angular velocity error is: in, This indicates the effect of the net external force on the angular velocity error. express oh Oblique symmetric matrix.

[0052] In the controller construction module, the sliding mode controller is: in, u This represents the control input of the sliding mode controller. λmax { J} represents a matrix J The largest eigenvalue, m Represents scalar ，c Represents a scalar. sgn ( S ) represents the sliding surface S The sign function, K Describes a positive definite matrix. G This represents a specific matrix that is convenient for calculation. d It represents a positive number.

[0053] The model building module is used to introduce the actual sliding mode-intermittent control fusion unit into the sliding mode controller to obtain the intermittent control model.

[0054] In the model building module, the event triggering mechanism of the actual sliding mode-intermittent control fusion unit is as follows: When the system state is in the region That is, satisfying At time: Execute the sliding mode controller; When the system state is in the region That is, satisfying Time: Turn off the sliding mode controller; When the system state is in the region That is, satisfying Time: If the system state changes from region If the state is transferred, the sliding mode controller will continue to be executed; if the system state changes from the region... If the system is transferred from another region, the sliding mode controller remains off; if the initial state of the system is in the region... ,when The sliding mode controller is activated when the time is right, and deactivated otherwise; where, α This represents the actual sliding mode boundary parameters.

[0055] The simulation adjustment module is used to perform numerical simulation verification of the intermittent control model and adjust the parameters to obtain the final control model.

[0056] The control module uses the final control model to control the movement of the quadcopter drone.

[0057] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A method for event-triggered intermittent control of a quadrotor unmanned aerial vehicle based on actual sliding mode, characterized in that, Includes the following steps: A kinematic model of a quadcopter UAV is established, and attitude error and angular velocity error are introduced. A sliding mode controller is designed based on the errors. An actual sliding mode-intermittent control fusion unit is introduced into the sliding mode controller to obtain an intermittent control model; The intermittent control model was verified by numerical simulation, and the parameters were adjusted to obtain the final control model. The motion of the quadcopter drone is controlled using the final control model.

2. The event-triggered intermittent control method for quadrotor UAVs based on actual sliding mode according to claim 1, characterized in that, The kinematic model includes: in, Represents the angular velocity vector. ω 1 indicates the coordinate system around the body. x Angular velocity in the axial direction, ω 2 indicates the coordinate system around the body. y Angular velocity in the axial direction, ω 3 indicates the coordinate system around the body. z Angular velocity in the axial direction, Describes a symmetric positive definite inertial matrix. Represents the net external torque with respect to angular velocity ω The impact, R Indicates matrix transformation. Represents the control input vector. u 1 indicates control ω Torque input with 1 angular velocity, u 2 indicates control angular velocity ω Torque input of 2, u 3 indicates the control angular velocity ω Torque input of 3, This represents a bounded perturbation vector. d 1 indicates the influence on angular velocity ω 1. External interference, d 2 indicates the influence on angular velocity ω 2. External interference, d 3 indicates the influence on angular velocity ω 3. External interference, Represents a unit quaternion. Represents the rotation axis (x, y, z) and the rotation angle. θ Information, q 0 represents , q 1 represents , q 2 indicates , q 3 indicates , express rate of change, Represents an oblique symmetric matrix. express rate of change, T This represents the transpose of a matrix.

3. The event-triggered intermittent control method for quadrotor UAVs based on actual sliding mode according to claim 2, characterized in that, The attitude error is: in, Represents the error quaternion. qd Indicates the desired posture, q Indicates real-time attitude, ⨂ represents quaternion multiplication. This represents the rate of change of the imaginary part of the error quaternion. This represents the rate of change of the real part of the error quaternion. This indicates information related to calculation settings. e A specific matrix, e 1. Using the error angle τ and error rotation axis ( l , m , n ) represents , e 2 indicates , e 3 indicates , ωe Indicates the error angular velocity. ωd Indicates the desired angular velocity; The angular velocity error is: in, This indicates the effect of the net external force on the angular velocity error. express ωe Oblique symmetric matrix.

4. The event-triggered intermittent control method for quadrotor UAVs based on actual sliding mode according to claim 3, characterized in that, The sliding mode controller is: in, u This represents the control input of the sliding mode controller. λmax { J } represents a matrix J The largest eigenvalue, μ Represents scalar ，c Represents a scalar. sgn ( S ) represents the sliding surface S The sign function, K Describes a positive definite matrix. G This represents a specific matrix that is convenient for calculation. δ It represents a positive number.

5. The event-triggered intermittent control method for a quadrotor UAV based on actual sliding mode according to claim 1, characterized in that, In the actual sliding mode-intermittent control fusion unit, the event triggering mechanism is as follows: When the system state is in the region That is, satisfying At time: Execute the sliding mode controller; When the system state is in the region That is, satisfying When: Turn off the sliding mode controller; When the system state is in the region That is, satisfying Time: If the system state changes from region If the transfer is successful, the sliding mode controller will continue to be executed; If the system state is determined by the region If the system is transferred from the previous state, the sliding mode controller remains in the off state; if the initial state of the system is located in region [missing information]... ,when The sliding mode controller is executed when the time is right, and shut down when the time is wrong. in, α This represents the actual sliding mode boundary parameters.

6. An event-triggered intermittent control system for a quadcopter unmanned aerial vehicle based on actual sliding mode, wherein the control system applies the method described in any one of claims 1-5, characterized in that, include: The system comprises a controller construction module, a model construction module, a simulation adjustment module, and a control module. The controller construction module is used to establish the kinematic model of the quadcopter UAV, while introducing attitude error and angular velocity error, and designing a sliding mode controller based on the error; The model building module is used to introduce an actual sliding mode-intermittent control fusion unit into the sliding mode controller to obtain an intermittent control model; The simulation adjustment module is used to perform numerical simulation verification on the intermittent control model and adjust the parameters to obtain the final control model. The control module uses the final control model to control the movement of the quadcopter drone.

7. The event-triggered intermittent control system for a quadrotor UAV based on actual sliding mode as described in claim 6, characterized in that, In the controller construction module, the kinematic model includes: in, Represents the angular velocity vector. ω 1 indicates the coordinate system around the body. x Angular velocity in the axial direction, ω 2 indicates the coordinate system around the body. y Angular velocity in the axial direction, ω 3 indicates the coordinate system around the body. z Angular velocity in the axial direction, Describes a symmetric positive definite inertial matrix. Represents the net external torque with respect to angular velocity ω The impact, R Indicates matrix transformation. Represents the control input vector. u 1 indicates control ω Torque input with 1 angular velocity, u 2 indicates control angular velocity ω Torque input of 2, u 3 indicates the control angular velocity ω Torque input of 3, This represents a bounded perturbation vector. d 1 indicates the influence on angular velocity ω 1. External interference, d 2 indicates the influence on angular velocity ω 2. External interference, d 3 indicates the influence on angular velocity ω 3. External interference, Represents a unit quaternion. Represents the rotation axis (x, y, z) and the rotation angle. θ Information, q 0 represents , q 1 represents , q 2 indicates , q 3 indicates , express rate of change, Represents an oblique symmetric matrix. express rate of change, T This represents the transpose of a matrix.

8. The event-triggered intermittent control system for a quadrotor UAV based on actual sliding mode according to claim 7, characterized in that, In the controller construction module, the attitude error is: in, Represents the error quaternion. qd Indicates the desired posture, q Indicates real-time attitude, ⨂ represents quaternion multiplication. This represents the rate of change of the imaginary part of the error quaternion. This represents the rate of change of the real part of the error quaternion. This indicates information related to calculation settings. e A specific matrix, e 1. Using the error angle τ and the error rotation axis ( l , m , n ) represents , e 2 indicates , e 3 indicates , ωe Indicates the error angular velocity. ωd Indicates the desired angular velocity; The angular velocity error is: in, This indicates the effect of the net external force on the angular velocity error. express ωe Oblique symmetric matrix.

9. The event-triggered intermittent control system for a quadrotor UAV based on actual sliding mode as described in claim 8, characterized in that, In the controller construction module, the sliding mode controller is: in, u This represents the control input of the sliding mode controller. λmax { J } represents a matrix J The largest eigenvalue, μ Represents scalar ，c Represents a scalar. sgn ( S ) represents the sliding surface S The sign function, K Describes a positive definite matrix. G This represents a specific matrix that is convenient for calculation. δ It represents a positive number.

10. The event-triggered intermittent control system for a quadrotor UAV based on actual sliding mode according to claim 6, characterized in that, In the model building module, the event triggering mechanism of the actual sliding mode-intermittent control fusion unit is as follows: When the system state is in the region That is, satisfying At time: Execute the sliding mode controller; When the system state is in the region That is, satisfying When: Turn off the sliding mode controller; When the system state is in the region That is, satisfying Time: If the system state changes from region If the transfer is successful, the sliding mode controller will continue to be executed; If the system state is determined by the region If the system is transferred from the previous state, the sliding mode controller remains in the off state; if the initial state of the system is located in region [missing information]... ,when The sliding mode controller is executed when the time is right, and shut down when the time is wrong. in, α This represents the actual sliding mode boundary parameters.

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