Improved self-disturbance-resistance quad-rotor unmanned aerial vehicle height control method
A quadrotor unmanned aerial vehicle, height control technology, applied in the direction of controllers with specific characteristics, electric controllers, etc., can solve the problems of few active disturbance rejection controllers, unsuccessful applications, complex nonlinear structures, etc. Overcome the lack of anti-interference ability, excellent robust and stable performance, and improve the effect of anti-interference ability
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[0042] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described below in conjunction with accompanying drawings, simulation experiments and actual flight experiments.
[0043] Such as figure 1 As shown, the height control method of a quadrotor unmanned aerial vehicle for improving self-disturbance provided by the present invention is carried out according to the following steps:
[0044]Firstly, based on the mechanism modeling method, the nonlinear dynamic model of the quadrotor UAV in the height direction is established. Its mathematical expression is:
[0045]
[0046] The model takes into account the nonlinear structure of the system and external disturbances, and describes the actual flight conditions more accurately. model, It can be regarded as the control input in the direction of height, and it is also the lift that the four rotors of the UAV can provide, b is the lift coef...
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