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Quad-rotor unmanned aerial vehicle integral sliding mode control method based on expansion state observer

A quad-rotor UAV, integral sliding mode technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of enhancing anti-disturbance ability, strong anti-interference ability, and ensuring accuracy

Active Publication Date: 2018-12-21
HUBEI UNIV OF TECH
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Problems solved by technology

However, due to the existence of the sign function, there is a chattering phenomenon in the control amount and output of the sliding mode control, and the greater the interference that needs to be suppressed, the more obvious the chattering phenomenon is, which is intolerable in many actuators

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  • Quad-rotor unmanned aerial vehicle integral sliding mode control method based on expansion state observer
  • Quad-rotor unmanned aerial vehicle integral sliding mode control method based on expansion state observer
  • Quad-rotor unmanned aerial vehicle integral sliding mode control method based on expansion state observer

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Embodiment Construction

[0048] The technical solution of the present invention will be described below in conjunction with the accompanying drawings and embodiments, so that those skilled in the art can better understand the present invention.

[0049] The embodiment of the present invention proposes to obtain the integral sliding mode control rate through the integral sliding mode control on the basis of the dynamic model and propeller model of the quadrotor UAV; using the extended state observer, according to the input of the quadrotor UAV system The sum output estimates the external disturbance received by the system, obtains the estimated value of the disturbance received by the system, and then compensates the integral sliding mode control rate. see figure 1 , in the integral sliding mode controller based on the extended state observer of the embodiment of the present invention, the expected value of the roll angle θ d As the input signal of the integral sliding mode controller ISMC; the contro...

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Abstract

The invention relates to a quad-rotor unmanned aerial vehicle integral sliding mode control method based on an expansion state observer. On the basis of a dynamics model and a propeller model of a quad-rotor unmanned aerial vehicle, the integral sliding mode control rate is obtained through integral sliding mode control; and by adopting the expansion state observer, external interference on a system is estimated according to an input and an output of the quad-rotor unmanned aerial vehicle system to obtain an estimated value of the interference on the system, and then the integral sliding modecontrol rate is compensated. The method ensures the precision of tracking expected input of the quad-rotor unmanned aerial vehicle, and has a strong anti-interference capability.

Description

technical field [0001] The invention belongs to the technical field of quadrotor UAVs, and in particular relates to an integral sliding mode control method for quadrotor UAVs based on an expanded state observer. Background technique [0002] With the development of aerospace technology and people's increasing demand for intelligent equipment, drones have begun to enter people's production, life, and even military activities, and have attracted the attention of a large number of scientific researchers. Committed to improving its flight performance and expanding its application range. With its many advantages, such as simple structure, flexible flight, low cost, especially vertical take-off and landing, quadrotor UAV has become a hot spot in the field of UAV research. [0003] Although the structure of the quadrotor UAV is relatively simple, its control is relatively complicated because it is an underactuated nonlinear system and the state variables are strongly coupled. At ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 潘健熊亦舟冯雨丝李坤黎家成梁佳成张慧马浩尤润川李昊容成玉爽
Owner HUBEI UNIV OF TECH
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