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Fixed-time adaptive attitude control method for three-degree-of-freedom four-rotor aircraft

A quadrotor aircraft and adaptive controller technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of quadrotor aircraft system model uncertainty, external interference, etc.

Active Publication Date: 2019-08-09
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of model uncertainty and external interference in the quadrotor aircraft system, an adaptive control method is added to the attitude control of the quadrotor aircraft

Method used

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  • Fixed-time adaptive attitude control method for three-degree-of-freedom four-rotor aircraft
  • Fixed-time adaptive attitude control method for three-degree-of-freedom four-rotor aircraft
  • Fixed-time adaptive attitude control method for three-degree-of-freedom four-rotor aircraft

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Embodiment Construction

[0097] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0098] refer to Figure 2-Figure 8 , a fixed-time adaptive attitude control method for a three-degree-of-freedom quadrotor aircraft, comprising the following steps:

[0099] Step 1, establish the voltage model of the quadrotor aircraft according to the dynamic principle, the process is as follows:

[0100] 1.1 Pitch axis and rotation axis model

[0101] The general equations for the motion of the pitch and rotation axes are as follows:

[0102]

[0103] Among them, θ is the actual angle of the pivot angle, L is the distance between the propeller motor and the pivot, J is the moment of inertia of the shaft, ΔF is the differential thrust, and the voltage model of the pitch axis is established as

[0104]

[0105] Among them, K f is the thrust constant, V f is the front motor voltage, V b is the rear motor voltage, θ p is the pitch...

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Abstract

The invention discloses a fixed-time adaptive attitude control method for a three-degree-of-freedom four-rotor aircraft. In order to solve a singular value, a global non-singular terminal sliding surface is designed, an adaptive control method is added on the basis of the design of the non-singular terminal sliding mode control method, and a double power approaching law is combined to design a non-singular terminal sliding mode fixed-time adaptive attitude control method. The method improves the robustness of the system and compensates errors caused by model errors and external disturbance soas to accurately control the flight attitude of the four-rotor aircraft. Experiment results show that the non-singular terminal sliding mode fixed-time adaptive attitude control method designed in theinvention is a novel four-rotor aircraft control method which can perform quick convergence, effectively improve the tracking precision and suppress external disturbance.

Description

technical field [0001] The invention relates to a fixed-time self-adaptive control method for a quadrotor aircraft based on a non-singular terminal sliding mode, so that the quadrotor aircraft can still quickly track a preset expected value of an upper attitude angle under certain external disturbances. Background technique [0002] Due to its small and flexible structure, vertical take-off and landing, free hovering, low cost, and excellent performance, quadrotor aircraft are widely used in various fields, such as aerial photography, disaster inspection, etc. The structure of the quadrotor aircraft is simple, and the rotation speed of the four propellers is mainly controlled by adjusting the rotation speed of the motor, and then the flight attitude of the quadrotor aircraft can be controlled. At the same time, affected by its own complex dynamic characteristics, the attitude control of quadrotor aircraft has always been a difficult point. [0003] In ordinary sliding mode ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈荣陈强庄华亮
Owner ZHEJIANG UNIV OF TECH
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