Nonlinear robust control method with finite-time convergence capacity for unmanned helicopter attitude error

Abstract

The invention belongs to the field of flight control of a small-scale single-rotor unmanned helicopter and aims to realize finite-time convergence for unmanned helicopter attitude tracking control. Therefore, the technical scheme is that a nonlinear robust control method with the finite-time convergence capacity for an unmanned helicopter attitude error comprises the following steps: 1, a small-scale unmanned helicopter dynamic model is determined; 2, small-scale unmanned helicopter attitude control is defined as follows: eta d(t)=[phi d(t), theta d(t), psi d(t)]<T>, wherein T is a given reference vector of an attitude angle, phi d(t), theta d(t) and psi d(t) are a given roll angle, a given pitch angle and a given yaw angle, and the relationship and relevant parameters are shown in the specification. For writing convenience, the variables do not carry the time t, and for example, eta d(t) is directly written as eta d; the attitude tracking error is defined as follows: e= eta d-eta. The method mainly applies to flight control of the small-scale single-rotor unmanned helicopter.

Description

technical field [0001] The invention belongs to the field of flight control research of small single-rotor unmanned helicopters. Specifically, it involves a finite-time convergent nonlinear robust control method for attitude errors of unmanned helicopters. Background technique [0002] A small unmanned helicopter is an aircraft equipped with the necessary data processing units, sensors, automatic controllers, and communication systems to complete autonomous flight tasks without human intervention. Due to its small size, light weight, and low cost, it has been widely used in military and civilian applications. However, the small unmanned helicopter is a typical nonlinear system, and the model has the characteristics of high nonlinearity, uncertainty and strong coupling, which makes it difficult to analyze the dynamic characteristics and control design of the unmanned helicopter. [0003] In recent years, the dynamic analysis and flight control design of small unmanned helic...

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Problems solved by technology

[0004] Aiming at the attitude nonlinear control problem of small unmanned helicopters, Hongwu Guo et al. used fuzzy control to realize the attitude stabilization of unmanned helicopters for the nonlinear model of unmanned helicopters. However, fuzzy control has a fuzzy rule base that is difficult to establish and update, and It is difficult to carry out stability analysis, so only numerical simulation is carried out in this paper, without actual flight verification (Conference: Proceedings of the 25th Chinese Control and Decision Conference; Authors: Jianbin YE, Shuai TANG, Li ZHANG, Hongwu Guo; Publication date: 2013; article title: Fuzzy control of small-scale unmanned helicopter; page numbers: 3040-3045)

Wang Geng et al. designed the controller based on the expected corresponding trajectory, and realized the continuous curve trajectory tracking control of the unmanned helicopter. However, the unmodeled dynamics and external disturbances were not considered in the controller design, and only a single-mode flight experiment was carried out. There is neither stability analysis nor corresponding robustness verification experiment (Journal: Acta Aeronautica Sinica; Authors: Wang Geng, Sheng Huanye, Lu Tiansheng, Wang Dong, Hu Fei; Publication Year: 2008; Article Title: Skywalker Small Unmanned Helicopter Design of self-flight control systems; pages: 170-177)

Kimon P.Valavanis et al. used the backstepping method to design the controller, which can effectively suppress the disturbance, but the use of the backstepping method introduces multiple differentiations of the system state and increases the amount of calculation of the system. Therefore, only numerical simulations are included in this paper. Actual flight control experiments (Journal: IEEE Transacactions on Control Systems Technology; Authors: Ioannis A.Raptis, Kimon P.Valavanis, George J.Vachtse vanos; Year of publication: 2012; Article title: Linear tracking control for small-scale unmanned helicopters ;pages: 995-1010)

Gabriel Abba et al. considered the possibility of uncertain interference during flight, but ignored the flapping dynamics of the rotor when designing the controller, resulting in less obvious experimental results (Journal: IEEE Transacactions on Control Systems Technology; Author: Francois Leonard ,Adnan Martini,Gabriel Abba; Year of publication: 2012; Article title: Robust nonlinear controls of model-scale helicopters under lateral and vertical wind gusts; Page number: 154-163)

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