Finite time track tracking control method for rotorcraft

Abstract

The invention provides a finite time track tracking control method for a rotorcraft, which comprises the following steps: establishing a mathematical model of the rotorcraft; using a layered control scheme to divide the rotorcraft into a height channel, a translation system and an attitude system, and separately designing a controller for each channel; for the height channel, designing a finite time controller to generate required lift for flight, and introducing an auxiliary system to compensate for input saturation action; for the translation system, designing a finite time controller to produce a desired roll angle and a desired angle of pitch; for the attitude system, designing a linear active disturbance rejection controller to generate torque required for flight. The control strategyprovided by the invention can not only improve the convergence speed, the tracking accuracy and anti-disturbance capability of the rotorcraft but also effectively compensate for the influence of input saturation on the control performance. The control strategy provided by the invention is simple in design, small in calculation amount, and easy to implement, and has a high practical application value.

Description

technical field [0001] The invention relates to the technical field of rotorcraft automatic control, in particular to a limited-time track tracking control method for a rotorcraft. Background technique [0002] The essential vertical take-off and landing, autonomous hovering and high-maneuvering flight capabilities of rotorcraft make it widely used in various industries; at the same time, the rotorcraft itself is under-actuated, nonlinear, and strongly coupled, as well as the variable nature of the flight environment. External disturbances bring great difficulty to its autonomous flight control, which has attracted great attention from experts and scholars in the control field. [0003] The rotorcraft considered in the present invention is a coaxial twelve-rotor unmanned aerial vehicle, with a structure such as figure 1 shown. Twelve rotors are in groups of two, and are installed at the end of the connecting rod to provide flight power with the plane of the body at an angl...

AI Technical Summary

Problems solved by technology

At the same time, due to the physical limitations of the aircraft itself, that is, the rotational speed of the motor-driven rotor is limited, the lift that the aircraft can provide is limited.

The deviation between the actual control quantity and the ideal control quantity caused by the input saturation problem of the aircraft will reduce the system control performance

Images