Multiple Rotor Aircraft Control via Non-Lipschitz Gain Adjustment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current multiple rotors aircraft designs face challenges due to high nonlinearity and coupling, making it difficult to design effective system controllers and manage parameter uncertainty, which affects their dynamic behavior.
Innovation Solution
A control method that adjusts rotor control gains based on the convergence properties of differential equations, using gain adjustment and attitude estimation functions that conform to a non-Lipschitzian characteristic, to achieve stable and robust control of the aircraft.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional control methods are used for multiple rotors aircraft, then the system is simple to implement, but the control performance is poor due to high nonlinearity and coupling
Solution Approach 1:
The patent transforms the control problem by changing parameters through coordinate transformation, converting the coupled nonlinear system into a decoupled form with simplified dynamics. This allows conventional control methods to achieve better performance without increasing complexity.
Solution Approach 2:
The patent replaces complex mechanical control approaches with mathematical transformation methods. By using coordinate transformation and differential equation analysis, the system achieves precise control without requiring complex mechanical structures or advanced control algorithms.
2Speed
If control gains are adjusted to improve response speed, then the convergence speed increases, but the system may become unstable
Solution Approach 1:
The patent implements feedback control by continuously monitoring the error function and adjusting control gains accordingly. The feedback mechanism ensures that as the system approaches the target state, the control gains are automatically reduced to prevent overshooting and maintain stability while achieving fast convergence.
Solution Approach 2:
The patent makes the control system dynamic by allowing control gains to vary over time based on the system state. The gains are adjusted according to the error magnitude and convergence progress, enabling the system to achieve both fast response and stability through adaptive parameter changes.
Data Source
AI summary
A multiple rotors aircraft and a control method thereof are provided. The control method comprises the following steps. First, current motion information of the multiple rotors aircraft is obtained. Then, at least one control gain is adjusted through a gain adjustment function according to the current motion information. The gain adjustment function conforms to a non-Lipschitzian characteristic, and at least one rotor of the multiple rotors aircraft is controlled according to the control gain. Therefore, the multiple rotors aircraft would be ensured that its flight attitude is toward a target position, and the expected result would be conformed rapidly.