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Finite-time full-order sliding mode control method for quadrotor unmanned aerial vehicle

An unmanned aerial vehicle, full-order sliding mode technology, applied in the direction of attitude control, adaptive control, general control system, etc., can solve the problems of slowing down the response speed and increasing the tracking error

Active Publication Date: 2019-01-22
ZHEJIANG UNIV OF TECH
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Problems solved by technology

However, in the above method, while solving chattering, the tracking error is increased, the response speed is slowed down, and the singularity always exists in the reduced-order sliding mode surface

Method used

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  • Finite-time full-order sliding mode control method for quadrotor unmanned aerial vehicle
  • Finite-time full-order sliding mode control method for quadrotor unmanned aerial vehicle
  • Finite-time full-order sliding mode control method for quadrotor unmanned aerial vehicle

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Embodiment Construction

[0119] The present invention will be further described below in conjunction with the accompanying drawings.

[0120] Referring to Figure 1- Figure 6 , a finite-time full-order sliding mode control method for a quadrotor unmanned aerial vehicle, including the following steps:

[0121] Step 1, establish the dynamic model of the quadrotor UAV, initialize the system state, sampling time and control parameters, the process is as follows:

[0122] 1.1 On the basis of ignoring air resistance and gyro effect, the following assumptions are made for the quadrotor UAV: ​​the aircraft is rigid; the structure of the aircraft is completely symmetrical; the center of gravity of the aircraft coincides with the origin of the body coordinate system; and the body coordinate system is defined The transfer matrix to the inertial coordinate system is:

[0123]

[0124] Among them, ψ, θ, and φ are the yaw angle, pitch angle, and roll angle of the aircraft, respectively, indicating that the iner...

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Abstract

The invention provides a finite-time full-order sliding mode control method of a quadrotor unmanned aircraft. For the quadrotor unmanned aircraft whose model parameters are coupled in a non-linear manner, a full-order sliding mode control method is utilized and a one-order filter is adopted to design the finite-time full-order sliding mode control method of the quadrotor unmanned aircraft. The design of full-order sliding mode surfaces ensures the rapid and stable convergence of the system. In a practical control system, two full-order sliding mode surfaces including the design position and attitude angle are degisned as inner and outer control rings to realize rapid tracking of the aircraft, and the filter is added to improve the buffeting problem. The invention provides the finite-time full-order sliding mode control method of the quadrotor unmanned aircraft, based on the condition that the system model parameters are coupled in a non-linear manner, rapid convergence to a balance point in finite time of the system is ensured, the response speed of the system is increased, the buffeting of sliding mode control input is improved, and the rapid and stable tracking performance of the system is effectively realized.

Description

technical field [0001] The invention relates to a finite-time full-order sliding mode control method for a four-rotor unmanned aerial vehicle, which is suitable for the flight control of the four-rotor unmanned aerial vehicle flying at a low speed. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an aircraft that can fly autonomously through remote control or based on the aircraft's own sensors. Among them, the rotor UAV has strong maneuverability and maneuverability, and can easily complete take-off and landing actions, and has relatively low requirements for the working environment. As a kind of rotorcraft, quadrotor unmanned aerial vehicle has attracted wide attention from domestic and foreign universities, research institutions and companies due to its small size, good maneuverability, simple design and low manufacturing cost. However, the quadrotor unmanned aerial vehicle is easily disturbed by the external environment during the flight process, resulting...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/08G05D1/10
CPCG05B13/04G05D1/0825G05D1/101
Inventor 陈强王音强龚相华庄华亮孙明轩何熊熊
Owner ZHEJIANG UNIV OF TECH
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