Track and attitude cooperative control method for quad-rotor unmanned helicopter based on multi-variable interference compensation

Abstract

The invention relates to the technical field of unmanned aircraft control, and provides a finite-time track and attitude cooperative control algorithm based on multi-variable interference compensation. The defect in the prior art that a traditional quad-rotor unmanned helicopter is poor in control precision, slow in response speed and not ideal in anti-interference effect can be overcome. Meanwhile, the high-precision fast and stable tracking control problem for the track and the posture of the quad-rotor unmanned helicopter under the influence of comprehensive interferences can be solved. Asa result, the safety and the reliability of the system are enhanced. The track and attitude cooperative control method for the quad-rotor unmanned helicopter based on multi-variable interference compensation comprises the following steps of 1, designing a track controller-interference compensator; 2, resolving the attitude; 3, designing an attitude controller-interference compensator. The method is mainly applied to the control occasions of unmanned aircrafts.

Description

technical field [0001] The invention relates to the technical field of control of unmanned aerial vehicles, in particular to the field of high-precision fast track and attitude cooperative control of a quadrotor unmanned aerial vehicle. Specifically, it involves a multi-variable interference-compensated quadrotor UAV trajectory and attitude cooperative control method. Background technique [0002] The quadrotor drone has axisymmetric mechanical structure, and the four rotors are evenly distributed on the four ends of the cross structure. The power of this type of drone is provided by the lift generated by each rotor, and only four rotors need to be changed. The rotation speed of the drone can realize the roll, pitch, yaw and other actions of the drone. The quadrotor UAV has the advantages of small size, light weight, good concealment, suitable for multi-platform and multi-space use, and can take off and land flexibly on the ground and on warships. Its simple structure, sup...

AI Technical Summary

Problems solved by technology

However, when the control method based on the traditional theory is used in the design of the controller of the quadrotor UAV, the shortcomings are mainly reflected in the following aspects: (1) When designing the flight control system based on the traditional control strategy, usually multiple inputs and multiple The output UAV model is simplified into multiple single-input and single-output models, and then the controller is designed for each channel. This artificially forcible decoupling design strategy is easy to cause failure when the UAV is performing fast maneuvering flight. (2) The traditional flight control system designed based on Lyapunov theory can only achieve asymptotically stable tracking control for a given reference command, which limits the ultimate flight capability of the UAV. Existing theories show that flight control based on finite time The system, while ensuring the stability of the system, can comprehensively improve the tracking accuracy, convergence speed and robustness of the system; (3) The parameter adjustment of the controller designed based on the traditional control method depends heavily on the uncertainty of the system model and external interference. In actual flight control, due to the existence of unknown disturbances, the flight control performance is often difficult to obtain the desired control effect, and the adjustment of controller parameters based on this strategy is time-consuming and laborious

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