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Aircraft limited time adaptive attitude control method based on enhanced index approaching law

A technology of attitude control and exponential approach, applied in the direction of adaptive control, attitude control, general control system, etc., can solve the problems that cannot be directly applied to aircraft attitude control

Active Publication Date: 2018-01-12
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] However, in most of the methods proposed above, the kinematics and dynamics model parameters of the aircraft attitude system must be known in advance
Therefore, when there are uncertain factors in the system, the method proposed above cannot be directly applied to the attitude control of the aircraft

Method used

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  • Aircraft limited time adaptive attitude control method based on enhanced index approaching law
  • Aircraft limited time adaptive attitude control method based on enhanced index approaching law
  • Aircraft limited time adaptive attitude control method based on enhanced index approaching law

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Embodiment Construction

[0083] The present invention will be further described below in conjunction with the accompanying drawings.

[0084] refer to Figure 1-Figure 6 , a finite-time adaptive attitude control method for aircraft based on enhanced exponential reaching law:

[0085] Step 1, establish the kinematics and dynamics model of the aircraft attitude control system, initialize the system state and control parameters, the process is as follows:

[0086] 1.1 The expression form of the dynamic model of the aircraft attitude control system is:

[0087]

[0088] in, are the angular velocity and angular acceleration of the aircraft respectively; × is the operation symbol, and the operation symbol × applied to a=[a 1 ,a 2 ,a 3 ] T available a × =[0,-a 3 ,a 2 ;a 3 ,0,-a 1 ;-a 2 ,a 1 ,0]; J∈R 3×3 is the rotational inertia matrix of the aircraft; u∈R 3 and d(t)∈R 3 are the control torque and external disturbance;

[0089] 1.2 The expression form of the kinematics model of the airc...

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Abstract

The invention relates to an aircraft limited time adaptive attitude control method based on the enhanced index approaching law, aims to solve an aircraft attitude stabilization problem having concentration uncertainty, utilizes a sliding mode control method based on the enhanced index approaching law and is integrated with adaptive control. A terminal sliding mode surface is designed for guaranteeing limited time convergence of a system, a problem of buffeting is reduced in an actual control system through the enhanced index approaching law, moreover, adaptive control is for adjusting a self characteristic feedback control system according to environment change in an intelligent mode to make the system operates in the optimal state according to certain setting standards. The method is advantaged in that the problem of buffeting of the sliding mode surface and control torque can be reduced, on the condition that the system has uncertainty and interference, limited time consistent boundary control of the system is finally realized.

Description

technical field [0001] The invention relates to a limited-time self-adaptive attitude control method of an aircraft based on an enhanced exponential reaching law, in particular to an attitude control method of an aircraft with external disturbance and uncertainty of a rotational inertia matrix. Background technique [0002] The flight control system is the core of the UAV. To complete the autonomous flight of the UAV, the control system needs to have good control characteristics for both the inner loop (attitude loop) and the outer loop (horizontal position and height loop). The flight control law design of UAV determines its flight performance. These performances include various flight performances, such as: takeoff and landing performance, operational flight performance, flight safety and reliability, flight monitorability, system automation, maintainability, etc. However, the performance requirements of UAV flight control systems are becoming more and more complex, and i...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
Inventor 陈强陶玫玲孙明轩何熊熊庄华亮
Owner ZHEJIANG UNIV OF TECH
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