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Enhanced fast power reaching law sliding mode control method of quad-rotor UAV system

A technology of quadrotor UAV and control method, which is applied in the field of enhanced fast power reaching law sliding mode control, and can solve problems such as chattering and singularity problems

Active Publication Date: 2018-04-24
ZHEJIANG UNIV OF TECH
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AI Technical Summary

Problems solved by technology

However, the traditional sliding mode variable structure can cause singularity problems and chattering

Method used

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  • Enhanced fast power reaching law sliding mode control method of quad-rotor UAV system
  • Enhanced fast power reaching law sliding mode control method of quad-rotor UAV system
  • Enhanced fast power reaching law sliding mode control method of quad-rotor UAV system

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Embodiment Construction

[0103] The present invention will be further described below in conjunction with the drawings.

[0104] Reference Figure 1-Figure 9 , An enhanced fast power reaching law sliding mode control method for a four-rotor UAV system, including the following steps:

[0105] Step 1. Determine the transfer matrix from the body coordinate system based on the quadrotor UAV to the earth-based inertial coordinate system;

[0106]

[0107] Among them, ψ, θ, and φ are the yaw angle, pitch angle, and roll angle of the UAV respectively, which represent the rotation angle of the UAV around each axis of the inertial coordinate system. T ψ Represents the transition matrix of ψ, T θ Represents the transition matrix of θ, T φ Represents the transition matrix of φ;

[0108] Step 2. Analyze the UAV dynamic model according to Newton Euler's formula, the process is as follows:

[0109] 2.1. During the translation process:

[0110]

[0111] Where x, y, z represent the position of the drone in the inertial coordi...

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Abstract

The invention relates to an enhanced fast power reaching law sliding mode control method of a quad-rotor UAV system. The enhanced fast power reaching law sliding mode control method is designed for the quad-rotor UAV system by combining with a fast power reaching law sliding mode control method. The design of an enhanced fast power reaching law is used for ensuring a sliding mode of the system canreach a sliding mode surface more quickly, does not increase the chattering phenomenon of the system, and achieves fast and stable control of the system.

Description

Technical field [0001] The invention relates to an enhanced fast power approaching law sliding mode control method for a four-rotor unmanned aerial vehicle system. Background technique [0002] Four-rotor aircraft, as a kind of rotary-wing aircraft, has attracted wide attention from universities, research institutions and companies at home and abroad due to its small size, good maneuverability, simple design, and low manufacturing cost. Rotor-wing unmanned aerial vehicles are very suitable for civilian and military applications such as surveillance and reconnaissance. In the civil field, rotary-wing unmanned aerial vehicles are mainly used in disaster relief, ground monitoring, high-altitude aerial photography, etc.; due to their concealment and good reliability, they are also used in military fields such as battlefield monitoring and military reconnaissance. In terms of scientific research, quad-rotor UAVs have dynamic characteristics of nonlinearity, underdrive, and strong cou...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陈凯杰叶艳
Owner ZHEJIANG UNIV OF TECH
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