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A Nonlinear Sliding Mode Pose Control Method for Quadrotor Aircraft Based on Double Exponential Function

A control method and non-linear technology, applied in attitude control, non-electric variable control, three-dimensional position/channel control and other directions, which can solve the problems of poor operability, long flight distance and long time.

Active Publication Date: 2019-12-03
ZHEJIANG UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

UAVs can be divided into fixed-wing and rotary-wing. The advantages of fixed-wing UAVs are high energy efficiency, so the flight distance and time are longer. Small gliders are easier to control when the wind speed is not strong, but they are designed In unmanned mode, the operability is poor

Method used

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  • A Nonlinear Sliding Mode Pose Control Method for Quadrotor Aircraft Based on Double Exponential Function
  • A Nonlinear Sliding Mode Pose Control Method for Quadrotor Aircraft Based on Double Exponential Function
  • A Nonlinear Sliding Mode Pose Control Method for Quadrotor Aircraft Based on Double Exponential Function

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Embodiment Construction

[0081] The present invention will be further described below in conjunction with the accompanying drawings.

[0082] refer to Figure 1-Figure 5 , a quadrotor nonlinear sliding mode pose control method based on double exponential function, including the following steps:

[0083] Step 1, establish the dynamic model of the quadrotor UAV system, initialize the system state, sampling time and control parameters, the process is as follows:

[0084] 1.1 The expression form of the dynamic model of the quadrotor UAV system is:

[0085]

[0086] Among them, x, y, and z represent the positions of the three coordinate axes of the UAV in the inertial coordinate system, m represents the mass of the UAV, and F represents the total external force acting on the UAV, including the gravity of the UAV The resultant force U generated by mg and the four rotors F , T is the transfer matrix from the body coordinate system to the inertial coordinate system, expressed as:

[0087] T=[T 1 T 2...

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Abstract

The invention relates to a quad-rotor aircraft nonlinear sliding mode pose control method based on a double-exponential function. The invention designs a quad-rotor unmanned aerial vehicle system nonlinear sliding mode pose control method by using a nonlinear sliding mode control method in allusion to a quad-rotor unmanned aerial vehicle system containing a dynamic execution mechanism. The design of a sliding mode surface is to ensure quick and stable convergence of the system. In addition, the robustness and the tracking accuracy of the system can be improved by adopting a nonlinear function to design the sliding mode surface. The quad-rotor aircraft nonlinear sliding mode pose control method based on the double-exponential function provided by the invention realize quick and stable control of the system.

Description

technical field [0001] The invention relates to a nonlinear sliding mode position and attitude control method of a quadrotor aircraft based on a double-exponential function, so as to meet the performance requirements of the quadrotor drone for fast and accurate tracking of reference inputs. Background technique [0002] Unmanned Aerial Vehicle (UAV) is an aircraft that can fly autonomously through remote control or based on the UAV's own sensors. With the continuous maturity of its technology, it has been used in many fields of civil and military use. UAVs can be divided into fixed-wing and rotary-wing. The advantages of fixed-wing UAVs are high energy efficiency, so the flight distance and time are longer. Small gliders are easier to control when the wind speed is not strong, but they are designed In unmanned mode, the operability is poor. In contrast, the rotor drone has strong maneuverability and mobility, can easily complete take-off and landing actions, and has relati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 陈强胡如海陈凯杰
Owner ZHEJIANG UNIV OF TECH
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