Modeling and self-adaptive control method for four-axis aircraft carrying uncertain loads

Abstract

The invention provides a modeling and self-adaptive control method for a four-axis aircraft carrying uncertain loads, and relates to the control technical field of multi-rotor unmanned aerial vehicles. The method comprises the following steps of firstly, carrying out the dynamics accurate modeling under the condition that the four-axis aircraft carries uncertain loads so as to obtain the differential equation form and the column array form of a kinetic model; secondly, designing a self-adaptive controller based on the kinetic model; finally, designing a feedback control law and controlling the attitude of the four-axis aircraft carrying uncertain loads through selecting proper parameters. According to the technical scheme of the invention, a modeling and self-adaptive control method is provided. Based on the feedforward control, the dynamics uncertainty of the aircraft is subjected to parameter adjustment, so that the aircraft is adapted to the current environment. Therefore, the attitude stability of the four-axis aircraft carrying uncertain loads is effectively improved. Based on the design of the Lyapunov method, the stability and the convergence can be guaranteed, and the number of control parameters can be reduced at the same time. The attitude control precision and the flight response speed of the four-axis aircraft carrying loads are effectively improved.

Description

Technical field: [0001] The invention relates to the technical field of multi-rotor UAV control, in particular to a modeling and adaptive control method for a quadcopter carrying an uncertain load. Background technique: [0002] In recent years, the field of unmanned aerial vehicles has developed rapidly. Because of its semi-autonomous navigation in complex environments, it has been used in a wide range of military and civilian fields. It can carry dangerous items in a dynamic environment instead of humans to complete complex tasks, such as emergency rescue, disaster relief, weather detection, remote sensing mapping, and agriculture. The miniature quadcopter can take off and land vertically in a narrow area, and can hover in the air after taking off, so it has a wide range of applications. [0003] A typical quadcopter has four axes in a cross structure, and the rotors are symmetrically distributed in four directions of the body. The rotors on the four axes are at the same ...

AI Technical Summary

Problems solved by technology

[0005] For the case where the quadcopter carries a load, due to the uncertainty of the position of the load relative to the quadcopter body, the uncertainty of the mathematical model of the aircraft results in the uncertainty of the controller design

At present, most of the research results of control methods in the field of unmanned aerial vehicles under load conditions have too many parameters, and the control effect cannot be quickly converged.

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