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No-model quadrotor unmanned plane trajectory tracking controller and method based on PD-SMC and RISE

A quadrotor UAV, trajectory tracking technology, applied in attitude control, control/regulation system, non-electric variable control and other directions, can solve differential explosion, no solution is given, moment of inertia, aerodynamic parameters cannot be accurately measured and other problems to achieve the effect of reducing chattering, good effectiveness and stability

Pending Publication Date: 2018-09-28
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Third, for common small quadrotor UAVs, its moments of inertia and aerodynamic parameters cannot be accurately measured
[0010] In addition, most of the attitude controller design process not only needs the desired attitude angle, but also needs the desired angular velocity, and the calculation of the desired angular velocity is complex, and if the desired angle is directly differentiated, it may lead to the problem of differential explosion
At present, most of the literature does not give corresponding solutions

Method used

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  • No-model quadrotor unmanned plane trajectory tracking controller and method based on PD-SMC and RISE
  • No-model quadrotor unmanned plane trajectory tracking controller and method based on PD-SMC and RISE
  • No-model quadrotor unmanned plane trajectory tracking controller and method based on PD-SMC and RISE

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Embodiment Construction

[0062] Below in conjunction with accompanying drawing and example the present invention will be further described:

[0063] 1. Quadrotor drone model

[0064] Quadrotor UAV is a typical nonlinear underactuated system. Quadrotor drones have 6 degrees of freedom including three-dimensional position and rotation around the three body coordinate axes. However, quadrotor drones have only 4 independent inputs, namely the pull of the four propellers. Schematic diagram of the structure of a quadrotor UAV figure 1 shown. The dynamic model of the quadrotor UAV is in the earth coordinate system (O-x e the y e z e ) and body coordinate system (O-x b the y b z b ) created under . Symbols and symbol definitions used in the present invention are shown in Table 1.

[0065] Table 1. Quadrotor parameters and their definitions

[0066]

[0067] The position of the center of mass of the quadrotor drone in the earth coordinate system and the Euler angle describing the attitude of the ...

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Abstract

The invention discloses a no-model quadrotor unmanned plane trajectory tracking controller and method based on PD-SMC and RISE, and a position controller based on a PD-SMC algorithm is designed. The controller combines the characteristics that a PD controller is easy to design and an SMC controller is high in robustness, and does not need a precise outer ring model. Secondly, a posture controllerbased on an RISE algorithm is designed, and a continuous control signal of the RISE algorithm greatly reduces the vibration of a system. The beneficial effects of the invention are that the stabilities of the inner ring and outer ring subsystems are demonstrated through the Lyapunov theorem of stability. A simulation experiment result demonstrates the effectiveness of the controller proposed in the invention.

Description

technical field [0001] The invention relates to the technical field of trajectory tracking control of a quadrotor UAV, in particular to a model-free quadrotor UAV trajectory tracking controller and method based on PD-SMC and RISE. Background technique [0002] Quadrotor drone is a kind of rotor drone, which can realize vertical take-off and landing, hovering, etc. in a limited space. Compared with traditional rotor helicopters, quadrotor drones have the advantages of low cost, simple mechanical mechanism, and strong maneuverability. In recent years, quadrotor drones have attracted more and more attention from scientific research institutions and enterprises due to their huge application potential in military and civilian applications. [0003] However, the control of a quadrotor drone is not an easy job. First of all, the movement of the quadrotor UAV is realized by changing the rotation speed of the four propellers, so the controller is required to have a high response sp...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 马昕李轾荣学文宋锐田国会田新诚李贻斌
Owner SHANDONG UNIV
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