Four-rotor aircraft finite time control method based on logarithmic enhanced constant-speed reaching law and rapid terminal sliding mode surface

A technology of quadrotor aircraft and control method, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem that the sliding mode surface cannot realize finite time control, accelerate the approach speed of the approach law, and accelerate the arrival of the system Sliding mode surface approach speed and other issues

Active Publication Date: 2018-11-06
ZHEJIANG UNIV OF TECH
View PDF7 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem that the traditional sliding mode surface cannot realize finite time control and further accelerate the approaching speed of the reaching law and reduce chattering, the present invention adopts fast terminal sliding mode control and a logarithmically enhanced constant-velocity approaching law, The idea of ​​switching control avoids the singularity problem, accelerates the approach speed of the system to the sliding mode surface, reduces chattering, and realizes limited time control

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Four-rotor aircraft finite time control method based on logarithmic enhanced constant-speed reaching law and rapid terminal sliding mode surface
  • Four-rotor aircraft finite time control method based on logarithmic enhanced constant-speed reaching law and rapid terminal sliding mode surface
  • Four-rotor aircraft finite time control method based on logarithmic enhanced constant-speed reaching law and rapid terminal sliding mode surface

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0072] The present invention will be further described below in conjunction with the drawings.

[0073] Reference Figure 1-Figure 7 , A finite-time control method of quadrotor aircraft based on logarithmic enhanced constant velocity approaching law and fast terminal sliding surface, including the following steps:

[0074] Step 1. Determine the transfer matrix from the body coordinate system based on the quadrotor to the earth-based inertial coordinate system;

[0075]

[0076] Where ψ, θ, and φ are the yaw angle, pitch angle, and roll angle of the aircraft, respectively, indicating the rotation angle of the aircraft 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;

[0077] Step 2. Analyze the dynamics model of the quadrotor according to Newton's Euler formula, the process is as follows:

[0078] 2.1. During the translation process:

[0079]

[0080] Where...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

Provided is a four-rotor aircraft finite time control method based on a logarithmic enhanced constant-speed reaching law and a rapid terminal sliding mode surface. The method includes following steps:step 1, determining a transfer matrix from a body coordinate system based on a four-rotor aircraft to an inertial coordinate system based on earth; step 2, analyzing a kinetic model of the four-rotoraircraft according to a Newton Euler's formula; and step 3, calculating a tracking error, and designing a controller according to the rapid terminal sliding mode surface and a first-order derivativethereof. For a four-rotor aircraft system, with the combination of the logarithmic enhanced constant-speed reaching law sliding mode control and the rapid terminal sliding mode control, the reaching speed can be increased when being far from the sliding mode surface, the buffeting can be reduced, the rapidity and the robustness of the system are improved, rapid and stable control can be realized,finite time control of the tracking error can be realized, and the problem that in the conventional sliding mode surface, only when the time reaches infinity, the tracking error can reach 0 is solved.

Description

Technical field [0001] The invention relates to a finite-time control method for a four-rotor aircraft based on a logarithmic enhanced constant velocity approaching law and a fast terminal sliding mode surface. Background technique [0002] Due to its simple structure, strong maneuverability, and unique flight mode, the quadrotor has attracted widespread attention from scholars and scientific research institutions at home and abroad, and has quickly become one of the current international research hotspots. Compared with fixed-wing aircraft, rotary-wing aircraft can lift vertically, have low environmental requirements, do not need a runway, reduce costs, and have huge commercial value. The development of aircraft has made many dangerous high-altitude operations easier and safer, has created a military deterrent to other countries, and has greatly increased work efficiency in civilian applications. The quadrotor has strong flexibility, can realize the rapid transition between mov...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陈凯杰胡轶吴春
Owner ZHEJIANG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap