An Optimal Anti-Input Saturation Control Method for Quadrotor Aircraft Based on Sliding Mode Control

Abstract

The invention discloses an optimal anti-input saturation control method of a quadrotor aircraft based on sliding mode control. Considering the actuator saturation of quadrotor aircraft, combined with optimal control, a sliding mode control method is proposed. Under the premise of ensuring that the proposed performance index function J reaches the optimal value, calculate the sliding mode surface parameters and switching time of the system, and then design the corresponding sliding mode surface and sliding mode control law by comparing the switching time, and finally form the optimal controller. The method of the present invention simplifies the design steps of the controller by solving the inequality, and according to the performance index function, the proposed control law is the optimal control under the input saturation condition of the actuator, which effectively improves the control accuracy and response speed of the quadrotor aircraft. It can provide a controller design basis for quadrotor aircraft with actuator input saturation. The invention is used for anti-input saturation control of a four-rotor aircraft with parameter uncertainty and external disturbance.

Description

technical field [0001] The invention relates to an optimal anti-input saturation control method of a quadrotor aircraft based on sliding mode control, and belongs to the technical field of aircraft control. Background technique [0002] A quadrotor is a motor-driven aircraft that can take off and land vertically. Compared with conventional rotorcraft, its structure is more compact, it can generate greater lift, and because its four rotors can cancel each other's counter-torque torque, it does not need a special counter-torque propeller. As a kind of unmanned aerial vehicle, due to its unique advantages, quadrotor aircraft has broad prospects in the fields of civil and military use. Then, the quadrotor aircraft has the characteristics of nonlinearity, strong coupling, and sensitivity to external disturbances. Therefore, a more robust control method is needed to ensure its flight safety and flight quality. Due to the uncertainty of the quadrotor aircraft itself and the chan...

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Problems solved by technology

However, most of these methods do not consider the uncertainty and nonlinearity of system parameters. For quadrotor aircraft with complex structures, serious parameter uncertainty and nonlinearity, the control effect is poor, and even the aircraft is unstable.

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