Four-rotor aircraft adaptive control method based on logarithmical enhancement type fast power approaching law and fast terminal sliding mode surface

A four-rotor aircraft, adaptive control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of inability to achieve limited time control, speed up the approach speed of the approach law, and speed up the system to reach the sliding mode Surface approach speed and other issues, to avoid singularity problems, speed up approach speed, reduce chattering effect

Active Publication Date: 2018-11-13
ZHEJIANG UNIV OF TECH
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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 cont...

Method used

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  • Four-rotor aircraft adaptive control method based on logarithmical enhancement type fast power approaching law and fast terminal sliding mode surface
  • Four-rotor aircraft adaptive control method based on logarithmical enhancement type fast power approaching law and fast terminal sliding mode surface
  • Four-rotor aircraft adaptive control method based on logarithmical enhancement type fast power approaching law and fast terminal sliding mode surface

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Embodiment Construction

[0075] The present invention will be further described below with reference to the accompanying drawings.

[0076] refer to Figure 1-Figure 11 , an adaptive control method for a quadrotor aircraft based on a logarithm-enhanced fast power reaching law and a fast terminal sliding mode surface, comprising the following steps:

[0077] Step 1, determine the transition matrix from the quadrotor-based body coordinate system to the earth-based inertial coordinate system;

[0078]

[0079] Among them, ψ, θ, and φ are the yaw angle, pitch angle, and roll angle of the aircraft, respectively, which represent the rotation angle of the aircraft around each axis of the inertial coordinate system in sequence, T ψ represents the transition matrix of ψ, T θ represents the transition matrix of θ, T φ represents the transition matrix of φ;

[0080] Step 2: Analyze the dynamics model of the quadrotor aircraft according to Newton's Euler formula. The process is as follows:

[0081] 2.1, t...

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Abstract

The invention relates to a four-rotor aircraft adaptive control method based on a logarithmical enhancement type fast power approaching law and a fast terminal sliding mode surface. The method includes the following steps that: step 1, a transfer matrix from a four-rotor aircraft-based aircraft body coordinate system to an earth-based inertia coordinate system is determined; step 2, a four-rotor aircraft dynamic model is analyzed according to Newton-Euler formula; and step 3, a tracking error is calculated, a controller is designed according to the fast terminal sliding mode surface and the first-order derivative thereof. According to the method of the invention, the logarithmical enhancement type fast power approaching law sliding mode control and fast terminal sliding mode control are used in combination, therefore, approaching speed can be increased when a system is far away from a sliding mode surface, buffeting can be decreased, the rapidity and robustness of the system can be improved, fast and stable control can be realized, finite time control of the tracking error can be realized, and a problem that a tracking error can be approximately 0 provided that the time tends to beinfinite in a traditional sliding mode surface can be solved; and the boundary of interference is estimated adaptively, so that the stability of the system is improved.

Description

technical field [0001] The invention relates to an adaptive control method for a quadrotor aircraft based on a logarithm-enhanced fast power reaching law and a fast terminal sliding mode surface. Background technique [0002] Due to its simple structure, strong maneuverability and unique flight mode, quadrotor aircraft has attracted widespread attention from scholars and scientific research institutions at home and abroad, and has quickly become one of the hot spots in international research. Compared with fixed-wing aircraft, rotary-wing aircraft can lift vertically, have low environmental requirements, do not need runways, reduce costs, and have huge commercial value. The development of aircraft has made many dangerous high-altitude operations easier and safer, deterred other countries in the military, and greatly increased the efficiency of work in the civilian. The quadrotor has strong flexibility, can achieve rapid transition of motion and hover at any time, and can ta...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强陈凯杰胡轶吴春
Owner ZHEJIANG UNIV OF TECH
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