Quad-rotor guaranteed performance quantitative control method considering airborne resource limitation

A control method and resource-limited technology, applied in the field of quadrotor automatic control, which can solve problems such as complex unknown interference

Active Publication Date: 2020-06-19
ZHONGBEI UNIV
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  • Abstract
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Problems solved by technology

[0004] In order to solve the problem of quadrotor high-performance trajectory tracking control under complex unknown interference and limited airborne resources, the present invention provides a quadrotor performance-guaranteed quantitative control method considering the limited airborne resources

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  • Quad-rotor guaranteed performance quantitative control method considering airborne resource limitation
  • Quad-rotor guaranteed performance quantitative control method considering airborne resource limitation
  • Quad-rotor guaranteed performance quantitative control method considering airborne resource limitation

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Embodiment Construction

[0050] The present invention will be further described below in conjunction with specific examples.

[0051] A quadrotor energy-guaranteed quantitative control method considering the limitation of airborne resources, comprising the following steps:

[0052] (1) Establish a motion / dynamics model that considers the control input quantification and can characterize the quadrotor strong coupling and strong uncertainty:

[0053] First, the quadrotor motion / dynamic model considering the quantization of the input control torque is established as follows:

[0054]

[0055] Among them, X p =[X p,1 ,X p,2 ,X p,3 ] T and x v =[X v，1 ,X v，2 ,X v，3 ] T Indicates the position and velocity vector of the quadrotor in the inertial coordinate system; X Ω =[X Ω，1 ,X Ω，2 ,X Ω，3 ] T and x ω =[X ω，1 ,X ω，2 ,X ω，3 ] T Indicates the rotation angle and angular velocity vector in the body coordinate system; and represent the smooth nonlinear function terms of the velocity and...

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Abstract

The invention discloses a quad-rotor guaranteed performance quantitative control method considering airborne resource limitation, and relates to the technical field of quad-rotor automatic control. The method comprises the following steps: firstly, establishing a motion/kinetic model which considers control input quantification and can represent strong coupling and strong uncertainty of the quadrotor; secondly, designing a mixed event triggering function based on a fixed threshold value and a relative threshold value, and constructing a mixed event triggering extended state observer for a track and an attitude loop respectively; then, establishing a four-rotor trajectory tracking error conversion model by utilizing a preset performance control principle to ensure that the trajectory tracking performance meets preset transient and steady performance index requirements; further, designing a quad-rotor trajectory loop virtual control law, and generating quad-rotor centroid dynamics virtual control input and an expected course angle instruction through inverse dynamics calculation; and finally, designing a quad-rotor virtual attitude control law. The quadrotor trajectory loop control precision is greatly improved, and finally effective utilization of airborne resources under a guaranteed performance framework is achieved.

Description

technical field [0001] The invention relates to the technical field of quadrotor automatic control, specifically a quadrotor quadrotor performance-guaranteed quantitative control method considering limited airborne resources, which is mainly applied to quadrotor high-performance trajectory tracking under the conditions of complex unknown interference and limited airborne resources control. Background technique [0002] In recent years, quadrotor UAVs have been widely used in military and civilian applications due to their simple structure, low manufacturability, ease of maintenance, operational agility, environmental durability, precise hovering, and vertical take-off and landing. Such as aerial photography, reconnaissance surveillance and target search, tracking and instructions. The quadrotor flight control system is the nerve center of the quadrotor system, and it is the most important thing to ensure that it can complete diverse flight tasks in various unknown environme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/10G05D1/08
CPCG05B13/042G05D1/101G05D1/0825
Inventor 邵星灵张文栋刘俊
Owner ZHONGBEI UNIV
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