Nonsingular adaptive non-smooth attitude tracking control method for unmanned aerial vehicle

Abstract

The invention provides a nonsingular adaptive non-smooth attitude tracking control method for a quadrotor unmanned aerial vehicle. The method includes the following steps: presetting a given attitudeangle, given rotational speed and given rotational acceleration; obtaining a current attitude angle and current rotational speed of the quadrotor unmanned aerial vehicle; calculating calculation errorvalues between the given attitude angle and given rotational speed and the current attitude angle and current rotational acceleration, and calculating a regression vector according to the attitude angle and the rotational acceleration; calculating a non-smooth control item according to the calculation error values; obtaining a parameter estimator according to the regression vector and the calculation error values; obtaining control quantity according to the regression vector, the parameter estimator and the non-smooth control item; and calculating and generating rotor rotational speed according to the control quantity, required lift and a rotor type. The nonsingular adaptive non-smooth attitude tracking control method for a quadrotor unmanned aerial vehicle solves the singular problem caused by smooth control, improves the performance of a controller, improves the attitude tracking control dynamic and static quality of the quadrotor unmanned aerial vehicle, and improves the practicality of the controller.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to a non-singular adaptive non-smooth attitude tracking control method for an unmanned aerial vehicle. [0002] technical background [0003] With the continuous improvement of automation technology, computer technology, chip technology and other technical levels, the application field of UAV has expanded from the pure military field to the civilian field; as a kind of multi-rotor UAV, quadrotor UAV has It has many advantages such as simple structure, small size, fast flight speed and strong endurance, and can be widely used in reconnaissance and surveillance, traffic supervision, aerial photography and other fields. It has great application prospects, and the quadrotor UAV has vertical lift and suspension Parking ability, can be better used in urban environments. [0004] At present, there are mainly the following methods in the high-quality attitude trackin...

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Problems solved by technology

[0004] At present, there are mainly the following methods in the high-quality attitude tracking control of quadrotor UAVs: one is to use the traditional adaptive control method to design the controller, this type of method can eliminate the influence of parameter uncertainty, but in the trajectory The tracking error convergence speed and the suppression of external disturbances have limited performance; the second is the sliding mode controller designed using the sliding mode variable structure control method. Invariance, and has the advantages of no need for system online identification parameters, simple physical realization, etc.

However, there are chattering problems in practical applications, so there are great difficulties in engineering applications

The third is finite time control. This method has faster convergence speed, smaller steady-state error boundary, and stronger anti-disturbance ability, but it does not have adaptive ability to load changes, so its control quality is greatly affected by disturbances.

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