Immersed invariant flow adaptive quadrotor control method based on integral sliding mode

Abstract

The invention provides an immersed invariant flow adaptive quadrotor control method based on integral sliding mode. The method comprises the following steps of providing a quadrotor UAV, measuring itsposition data, and constructing an extended state observer to estimate the total interference; constructing an integral sliding mode controller according to the position data and observation values,and obtaining its output value to eliminate the observation error of the extended state observer; constructing an adaptive controller based on immersed invariant flow pattern, superimposing its outputvalue and the output value of the integral sliding mode controller to obtain the sum of the output values to eliminate the total interference, and sending the sum of the output values to an attitudecontroller that drives the quadrotor UAV. The immersed invariant flow adaptive quadrotor control method based on integral sliding mode provided by the invention adopts an extended state observer to observe various types of disturbances, constructs an integral sliding mode controller to eliminate observation errors, and designs a path tracking controller based on an adaptive controller to eliminateinterference, thereby realizing adaptive estimation ability for interference such as air interference, and ensuring stability under the interference such as air resistance.

Description

technical field [0001] The invention belongs to the field of four-rotor unmanned aerial vehicles, and in particular relates to an adaptive four-rotor control method based on an integral sliding mode immersed in a constant flow pattern. Background technique [0002] Due to its high maneuverability, hovering ability, and miniaturization, quadrotor UAVs are widely used in scenarios such as military reconnaissance, post-disaster rescue, and terrain mapping, and it is also one of the current hot research directions. UAVs will face a variety of disturbances during flight, including airflow disturbances, load disturbances, sensor errors, and parameter uncertainties, etc. These disturbances will significantly interfere with the flight of UAVs. Especially in the high-precision and fast-response missions of quadrotor UAVs, these disturbances will seriously affect their flight quality. Therefore, it is of great significance to design a good anti-jamming algorithm for UAVs to improve t...

AI Technical Summary

Problems solved by technology

[0015] In the actual process, if the UAV moves slowly, such ignorance will not significantly affect the control effect; but in fast control, the UAV needs to make rapid and accurate motion control, such ignorance will affect the control effect of the UAV. The control effect of the machine has a significant impact

Therefore, the four-rotor control method that combines the extended state observer with the integral sliding mode controller does not directly cancel the disturbance, and the speed of eliminating the disturbance is slow, and the air resistance disturbance changes with the speed and attitude of the UAV. The change is a kind of high-frequency interference, which is difficult to be observed by the observer in time in the actual system

In more severe speed changes, the observer's erroneous estimation of air resistance may even negatively affect the control performance

In addition, this method does not consider the position change, and cannot achieve accurate and real-time tracking of the trajectory

Images