Quadrotor unmanned aerial vehicle control method

A technology of a quadrotor unmanned aerial vehicle and a control method, which is applied in the field of quadrotor unmanned aerial vehicle control based on global sliding mode control, can solve the problems of control performance influence and high order, and achieves the advantages of improving fast response and speeding up dynamic response speed. Effect

Inactive Publication Date: 2016-07-20
TIANJIN POLYTECHNIC UNIV
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AI Technical Summary

Problems solved by technology

The control of quadrotor UAV is a typical nonlinear system control problem with strong coupling, high order and non-strict feedback. In the actual flight process, quadrotor UAV will be disturbed by various uncertainties. Its control performance will have a great influence
At present, the robust control performance of quadrotor drones needs to be further improved

Method used

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  • Quadrotor unmanned aerial vehicle control method
  • Quadrotor unmanned aerial vehicle control method
  • Quadrotor unmanned aerial vehicle control method

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Embodiment Construction

[0009] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0010] according to figure 1 The schematic diagram of the quadrotor UAV model, the nonlinear model of the quadrotor UAV can be established as:

[0011]

[0012] Among them, (x, y, z) is the position coordinates of the quadrotor UAV, θ, and ψ are the roll angle, pitch angle and yaw angle of the quadrotor UAV, respectively, F i Indicates the lift generated by the i-th rotor, τ i is the flight angle torque generated by the i-th rotor, where i=1,2,3,4. l is the distance from the rotor center to the geometric center of the quadrotor UAV, m is the mass of the quadrotor UAV, g is the acceleration of gravity, (J x , J y , J z ) are the moments of inertia of the quadrotor UAV around the x, y, and z axes, respectively.

[0013] The state variables of the quadrotor UAV system can be expressed as Among them, T represents the transpose, the system state x, y ...

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Abstract

The invention belongs to the field of unmanned aerial vehicle control and particularly relates to a quadrotor unmanned aerial vehicle control method. An attenuation function of a dynamic sliding mode surface in global sliding mode control is designed into a one-order differentiable function composed of three exponential function items, and thus can be attenuated to zero in limited time. Thus, global robustness of the global sliding mode control of a quadrotor unmanned aerial vehicle is achieved, the dynamic sliding mode surface can be evolved into a linear sliding mode surface in limited time, and thus the dynamic responding speed of the system is increased. The quadrotor unmanned aerial vehicle control method is suitable for the field of control over quadrotor unmanned aerial vehicles.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control, and relates to a control method for a four-rotor unmanned aerial vehicle, in particular to a control method for a four-rotor unmanned aerial vehicle based on global sliding mode control. Background technique [0002] Quadrotor drones are widely used in military, industrial, and civilian fields, and have broad application prospects in the fields of reconnaissance and surveillance, electronic jamming, weapon attacks, traffic surveillance, forest fire prevention, geological exploration, disaster search and rescue, and aerial photography. The control of quadrotor UAV is a typical nonlinear system control problem with strong coupling, high order and non-strict feedback. In the actual flight process, quadrotor UAV will be disturbed by various uncertainties. Its control performance will have a greater impact. At present, the robust control performance of quadrotor drones needs to be furth...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 修春波臧亚坤巴富珊
Owner TIANJIN POLYTECHNIC UNIV
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