UAV (unmanned aerial vehicle) robust attitude control method and device independent of angular velocity feedback

Abstract

The invention provides a UAV (unmanned aerial vehicle) robust attitude control method and device independent of angular velocity feedback. The method comprises steps as follows: an attitude angle output by a power system of a UAV is collected, and an attitude angle error between the attitude angle and an expected reference quantity is calculated; an estimated value of an attitude angular velocityerror is generated according to the attitude angle error and a nominal control signal; the attitude angle comprises a rolling angle, a pitch angle or a yaw angle; the nominal control signal is updatedaccording to the estimated value; a robust compensation control signal is generated according to the attitude angle error and a current final control signal; the final control signal is updated according to the updated nominal control signal and the robust compensation control signal; the UVA is controlled to execute an attitude corresponding to the attitude angle according to the updated final control signal. According to the method and the device, influence of multiple uncertainty factors such as nonlinearity, coupling, external time-varying interference and the like in the flying process of the UAV can be inhibited, and precision and robustness of UAV attitude control are improved.

Description

Technical field [0001] The present invention relates to the technical field of automatic control, in particular to a method and device for robust attitude control of an unmanned aerial vehicle that does not rely on angular velocity feedback. Background technique [0002] At present, unmanned aerial vehicles, especially quadrotor unmanned aerial vehicles, are widely used in the fields of reconnaissance and surveillance, traffic supervision and aerial photography, and have important application value and broad application prospects. Existing unmanned aerial vehicles have the ability to complete a variety of tasks, especially in urban environments. Compared with fixed-wing aircraft, UAVs have the advantages of hovering and vertical take-off and landing. Especially quadrotor UAVs, because they do not require tail wings or complex mechanical control linkage devices to change aerodynamics and torque, they are increasingly used in urban environments. [0003] In order to make the drone c...

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Problems solved by technology

[0003] In order for the UAV to complete various tasks accurately and reliably, it is necessary to track and control its flight attitude; in the existing attitude control methods, feedback attitude controllers based on quaternions, switch model predictive controllers, and command filtering The controller, etc. control the attitude of the UAV, and estimate the uncertain factors that may occur during the flight of the UAV through the sliding mode observer; however, this control method is difficult to effectively suppress these uncertain factors , resulting in poor accuracy and robustness for UAV attitude control

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