Hybrid finite time control method for quadrotor accurate trajectory tracking

Abstract

The invention provides a hybrid finite time control method for quadrotor accurate trajectory tracking. The method comprises the steps: establishing a kinematic model and a dynamical model of a quad-rotor unmanned aerial vehicle; designing a vertical control law of the vertical motion according to a height tracking error of the quadrotor unmanned aerial vehicle and an adaptive integral sliding surface design; on the basis of a horizontal position tracking error of the quadrotor unmanned aerial vehicle, designing a horizontal control law of the horizontal motion based on a backstepping method; and designing a finite time disturbance observer based on the attitude angle of quadrotor unmanned aerial vehicle and designing a precise attitude stability control law by combining a non-singular terminal sliding-mode control law and the finite time disturbance observer. According to the invention, the quad-rotor is classified into three subsystems of the height, horizontal position and attitude and three kinds of control strategies are designed respectively; and on the basis of the hybrid control scheme, the trajectory tracking error is stabilized rapidly. The accurate trajectory tracking ofthe quadrotor can be realized under the condition that the unknown model parameters and the external disturbance are allowed; and the manipulation is more flexible.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a hybrid finite-time control method for precise trajectory tracking of quadrotors. Background technique [0002] The quadrotor unmanned aerial vehicle is an underactuated, strongly coupled, multivariable, and nonlinear complex system, and is affected by various physical effects such as gravity and gyroscopic effects, as well as interference from external environments such as airflow, and the controller design is cumbersome. [0003] Adaptive methods can only handle continuous and slowly time-varying disturbances. The backstepping method has poor robustness and is greatly affected by external disturbances, which can easily cause system instability. Although the sliding mode control method can overcome the poor robustness of the backstepping method, the input chattering phenomenon exists in the sliding mode control. The use of intelligent learning algorithms such as neural...

AI Technical Summary

Problems solved by technology

[0002] The quadrotor unmanned aerial vehicle is an underactuated, strongly coupled, multivariable, and nonlinear complex system, and is affected by various physical effects such as gravity and gyro effects, as well as interference from external environments such as airflow, and the controller design is cumbersome.

[0004] It is difficult to meet its dynamic performance index with traditional control methods

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