Four-rotor UAV flight control method based on fractional order power switching law

Abstract

The invention discloses a four-rotor UAV flight control method based on a fractional order power switching law. A whole controller is of a backstepping control structure, a second-order nonlinear system of a quadrotor UAV is split into two subsystems, control laws that satisfy Lyapunov's stability theory are constructed, and the two subsystems are in series connection through a virtual intermediate control variable to form the complete controller, so that the controller can well adapt to the nonlinearity of the system and have good integrity. At the same time, in order to enhance the anti-disturbance capability and robustness of the controller, in the second backstepping design, the controlled variable is subjected to the sliding mode control design, which introduces the high disturbance resistance and high robustness of the sliding mode control. .

Description

Technical field [0001] The invention belongs to the technical field of drone control, and more specifically, relates to a quadrotor drone flight control method based on a fractional power switching law. Background technique [0002] With the development of aerospace technology and people’s increasing demand for intelligent equipment, UAVs have begun to enter people’s production, life and even military activities, attracting the attention of a large number of scientific researchers. Committed to improving its flight performance and expanding its application range. The quadrotor UAV has become a hot spot in the field of UAV research due to its many advantages, such as simple structure, flexible flight, low cost, especially vertical take-off and landing. [0003] Although the structure of the quadrotor UAV is relatively simple, its control is relatively complicated because it is an under-driven nonlinear system and has strong coupling between the state variables. Nowadays, the contr...

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Problems solved by technology

[0003] Although the structure of the quadrotor UAV is relatively simple, its control is relatively complicated because it is an underactuated nonlinear system and the state variables have strong coupling.

Nowadays, the control technology of quadrotor aircraft is developing rapidly, but there are certain problems, such as the unsuitability of the PID control method to the nonlinear multiple-input multiple-output system, the weak anti-interference and robustness of the backstepping control method, and The strong jitter that may exist in the backstepping sliding mode control method leaves room for improvement in the research of the quadrotor UAV control method.

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