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Event-triggered quad-rotor unmanned aerial vehicle attitude control method

A four-rotor unmanned aerial vehicle, event-triggered technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problems of shortened sampling period and hardware limitations

Active Publication Date: 2019-07-05
TIANJIN UNIV
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AI Technical Summary

Problems solved by technology

However, these methods are susceptible to hardware limitations, and it is not possible to shorten the sampling period to a level that guarantees acceptable closed-loop performance

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  • Event-triggered quad-rotor unmanned aerial vehicle attitude control method

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Embodiment Construction

[0081] The purpose of the present invention is to propose an event-triggered super-helix control method applied to the attitude of a quadrotor UAV. Specifically, considering the urgent needs of quadrotor UAVs to reduce energy consumption and improve endurance, and considering the influence of uncertain model parameters, unmodeled dynamics, and external interference, an event-triggered mechanism for quadrotor UAVs is proposed. UAV attitude super-helix control method, which breaks through the shortcomings of traditional digital control algorithms for sampling at equal intervals, and proposes an event-triggered super-helix control method based on system state sampling for the first time, which solves the problem of uncertain model parameters for quadrotor UAVs. High-precision and fast attitude tracking control under the comprehensive influence of unmodeled dynamics and external interference, so as to achieve the purpose of saving network and computing resources and improving syste...

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Abstract

The invention relates to the unmanned aerial vehicle control technology field. A high-precision rapid attitude tracking control problem of a quad-rotor unmanned aerial vehicle under comprehensive effects of uncertain model parameters, unmodeled dynamics, an external disturbance and the like is solved. And purposes of saving network and calculating resources and increasing system endurance under the condition of ensuring control performance of the quad-rotor unmanned aerial vehicle are achieved. An event-triggered quad-rotor unmanned aerial vehicle attitude control method comprises the following steps of a first portion, a quad-rotor unmanned aerial vehicle attitude mathematical model; a second portion, an attitude superhelical controller design under an event trigger mechanism; and a thirdportion, an event trigger rule design: according to Lyapunov stability analysis, designing an event trigger rule and ensuring that internal event time is greater than a positive constant through analysis. The method is mainly applied to the aircraft automatic obstacle avoidance control occasion.

Description

technical field [0001] The invention relates to the technical field of control of unmanned aerial vehicles, in particular to the field of event-triggered attitude control of quadrotor UAVs. Background technique [0002] Cyber-Physical System (CPS for short) is the integration of computing and physical processes. Feedback loops are often used between embedded computers, networks monitoring and controlling physical processes, where the physical process influences the computation and vice versa. The intersection between physical and information-driven functions (or networks) represents challenges and brings innovations. For CPS, the use of digital platforms and networks becomes a clear trend to save space, weight and energy. However, digital implementation presents other challenges, such as determining how often control signals are updated and applied so that system stability is still guaranteed. As a type of CPS, quadrotor drones are becoming more and more popular in indust...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 田栢苓崔婕鲁瀚辰刘丽红宗群
Owner TIANJIN UNIV
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