Enhanced-type double-power reaching law sliding-mode control method for four-rotor-wing unmanned plane system
A technology of quadrotor UAV and control method, which is applied in the field of enhanced double-power reaching law sliding mode control, and can solve problems such as singularity and chattering
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[0104] The present invention will be further described below in conjunction with the accompanying drawings.
[0105] refer to Figure 1-Figure 9 , an enhanced dual power reaching law sliding mode control method for a quadrotor UAV system, comprising the following steps:
[0106] Step 1, determine the transfer matrix from the body coordinate system based on the quadrotor UAV to the inertial coordinate system based on the earth;
[0107]
[0108] Among them, ψ, θ, and φ are the yaw angle, pitch angle, and roll angle of the UAV, respectively, indicating the rotation angle of the UAV around each axis of the inertial coordinate system in turn, and T ψ represents the transition matrix of ψ, T θ Denotes the transition matrix of θ, T φ Represents the transition matrix of φ;
[0109] Step 2, analyze the UAV dynamics model according to Newton Euler's formula;
[0110] 2.1, during the translation process:
[0111]
[0112] Among them, x, y, and z represent the position of the...
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