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Quadrotor posture control method based on MIMO nonlinear uncertain backstepping approach

A control method and quadrotor technology, applied in attitude control, three-dimensional position/channel control, etc., can solve the problems of quadrotor aircraft model uncertainty and external interference, difficult to deal with strong coupling and other problems

Active Publication Date: 2015-09-23
UNIV OF SCI & TECH BEIJING
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a four-rotor position and attitude control method based on the MIMO nonlinear uncertain backstepping method, so as to solve the problem in the prior art that it is difficult to cope with the strong coupling in the flight process by using the conventional PID control method. , the uncertainty of the quadrotor aircraft model and the problems of external interference

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  • Quadrotor posture control method based on MIMO nonlinear uncertain backstepping approach
  • Quadrotor posture control method based on MIMO nonlinear uncertain backstepping approach
  • Quadrotor posture control method based on MIMO nonlinear uncertain backstepping approach

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Embodiment 1

[0070] see figure 1 As shown, the embodiment of the present invention provides a quadrotor pose control method based on MIMO nonlinear uncertain backstepping method, including:

[0071] S1: Based on the principle of aerodynamics and rotorcraft motion, and according to the control performance requirements to establish a mathematical model of the quadrotor aircraft;

[0072] S2: Establish a quadrotor aircraft model according to the quadrotor aircraft mathematical model and accuracy requirements;

[0073] S3: According to the mathematical model of the quadrotor aircraft and the uncertainty, external disturbance, underactuation, and strong coupling characteristics of the quadrotor aircraft model, analyze and decouple the quadrotor aircraft model, and determine the backstepping based on inner and outer loop control Robust compensation controller.

[0074] The four-rotor pose control method based on the multiple-input multiple-output (Multiple-Input Multiple-Output, MIMO) nonlinea...

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Abstract

The invention provides a quadrotor posture control method based on an MIMO nonlinear uncertain backstepping approach, which helps to improve flight safety and control performance of a quadrotor aircraft. The quadrotor posture control method comprises the steps of: establishing a quadrotor aircraft mathematical model based on aerodynamics and rotor aircraft motion principles and according to requirements for control performance; establishing a quadrotor aircraft model according to the quadrotor aircraft mathematical model and precision requirements; and analyzing and decoupling the quadrotor aircraft model according to uncertainty, external disturbance, underactuation and strong coupling characteristics of the quadrotor aircraft mathematical model and the quadrotor aircraft model, so as to determine a backstepping robust compensation controller based on inner and outer loop control. The quadrotor posture control method is suitable for the technical field of automation and control.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a four-rotor pose control method based on the MIMO nonlinear uncertain backstepping method. Background technique [0002] The fixed-wing aircraft has a strong load capacity and fast flight speed, and is suitable for large-area cruise missions during long-term endurance. The rotor aircraft can perform vertical take-off and landing, front and rear side flight, hovering and other difficult tasks. It has strong maneuverability and excellent posture tracking capabilities. Features. It is precisely because of the characteristics of complementary advantages in working methods that in specific application environments, rotorcraft can complete many tasks that are difficult for fixed-wing aircraft, such as ground target tracking, power line inspection, environmental survey, etc., and has great practical value. value. Therefore, it is very necessary to conduct in-depth research ...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
Inventor 孙长银潘汛余瑶张兰郭金胡艳艳
Owner UNIV OF SCI & TECH BEIJING
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