A finite-time adaptive control method for two-rotor aircraft based on compound fast terminal sliding mode

A rotorcraft, adaptive control technology, applied in attitude control and other directions, can solve the problem that the sliding surface cannot achieve limited time control, and achieve the effect of improving stability

Active Publication Date: 2022-01-11
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 achieve finite time control and improve the stability of the two-rotor aircraft system

Method used

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  • A finite-time adaptive control method for two-rotor aircraft based on compound fast terminal sliding mode
  • A finite-time adaptive control method for two-rotor aircraft based on compound fast terminal sliding mode
  • A finite-time adaptive control method for two-rotor aircraft based on compound fast terminal sliding mode

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Embodiment Construction

[0062] The present invention will be further described below in conjunction with the accompanying drawings.

[0063] refer to Figure 1-Figure 9 , a finite-time adaptive control method for a two-rotor aircraft based on a compound fast terminal sliding mode controller, including the following steps:

[0064] Step 1, establish the dynamic model of the two-rotor aircraft system, initialize the system state, sampling time and control parameters, the process is as follows:

[0065] The dynamic model expression of the two-rotor aircraft system is simplified to the following form

[0066]

[0067] where x 1 、x 2 and are the position, velocity and acceleration of the two-rotor aircraft respectively; f(x 1 ,x 2 ) is a smooth nonlinear function, which represents the uncertainty and disturbance of the whole system; u represents the control input signal, and b represents a constant;

[0068] Step 2, calculate the tracking position error, and design the composite fast terminal sli...

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Abstract

A finite-time adaptive control method for a two-rotor aircraft based on a composite fast terminal sliding mode, the control method comprising the following steps: Step 1, establishing a dynamic model of the two-rotor aircraft system, initializing system state, sampling time and control parameters, step 2. Calculate the tracking position error, design the composite fast terminal sliding mode surface, step 3, design the finite-time adaptive sliding mode controller, and step 4, design the Lyapunov function. Under the condition that there are uncertainties and interferences in the two-rotor aircraft system, the present invention realizes the finite time consistent final bounding of the two-rotor aircraft and improves the stability of the two-rotor aircraft.

Description

technical field [0001] The invention relates to a limited-time self-adaptive control method for a two-rotor aircraft based on a compound fast terminal sliding mode. Background technique [0002] Attitude control is an important part of the aircraft. Its stability and quick response play an indelible role in whether the aircraft can complete its flight mission. Among the aircraft, the two-rotor aircraft has attracted the attention of scholars at home and abroad. Because of its simple structure and special flight mode, it has gradually become a hot topic in international research. At the same time, due to relatively low flight requirements and no need for professional runways, it has a certain commercial value. Based on small aircraft, building a two-rotor aircraft flight control system and conducting aircraft motion control research is a hot research field in today's academic circles. [0003] The characteristic of the compound fast terminal sliding mode control method is t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 陈强王文鹏孙明轩
Owner ZHEJIANG UNIV OF TECH
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