Four-rotor aircraft nonlinear sliding mode position and attitude control method based on single exponential function
A technology of a quadrotor aircraft and a control method, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of long flight distance and time, poor operability, etc.
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[0083] The present invention will be further described below in conjunction with the accompanying drawings.
[0084] refer to Figure 1-Figure 5 , a nonlinear sliding mode pose control method for a quadrotor aircraft based on a single exponential function, comprising the following steps:
[0085] 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:
[0086] 1.1 The expression form of the dynamic model of the quadrotor UAV system is:
[0087]
[0088] 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:
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