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Finite time output feedback attitude tracking control method for aircraft

A technology of output feedback and tracking control, which is applied in attitude control and other directions, and can solve problems such as external interference and aircraft inertial uncertainty

Active Publication Date: 2020-08-28
QINGDAO UNIV
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Problems solved by technology

[0007]The purpose of the present invention is to propose a finite time output feedback attitude tracking control method of the aircraft to solve the inertial uncertainty, external disturbance and actuator saturation of the aircraft Attitude tracking control problem under

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  • Finite time output feedback attitude tracking control method for aircraft
  • Finite time output feedback attitude tracking control method for aircraft
  • Finite time output feedback attitude tracking control method for aircraft

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Embodiment Construction

[0135] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0136] like figure 1 As shown, a finite-time output feedback attitude tracking control method for an aircraft includes the following steps:

[0137] I. The attitude parameter vector of the aircraft in the inertial system According to the modified Rodrigue parameter is defined as:

[0138]

[0139] In the formula, Represents the pose parameter vector The first component of , express The second component of , express The third component of ; θ∈(-2π, 2π) represents the angle of the main rotation angle, and α represents the main rotation axis.

[0140] According to the modified Rodrigue parameters, the kinematic equation of the aircraft is defined as:

[0141]

[0142] Among them, I 3×3 ∈R 3×3 is the identity matrix; defined as

[0143] ω=[ω 1 ,ω 2 ,ω 3 ] T ∈R 3 represents the angular velocity of the aircraft, where...

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Abstract

The invention discloses a finite time output feedback attitude tracking control method for an aircraft. According to the finite time output feedback attitude tracking control method, in the attitude tracking control process of the aircraft, a tracking error of an attitude parameter vector and an expected attitude position vector of the aircraft is converged in an expected neighborhood through thesteps of: constructing a state observer, a finite time command filter and an error compensation mechanism, designing a control law based on fractional power and the like. By adopting the finite time output feedback attitude tracking control method, the problem of calculation complexity caused by a traditional backstepping method can be avoided, the attitude tracking error can be ensured to be converged into any expected neighborhood under the conditions that the aircraft has inertia uncertainty, external interference and input saturation, and all signals in a closed-loop system are bounded within limited time. In addition, the invention further provides a specific example to verify the effectiveness of the finite time output feedback attitude tracking control method, and the effectivenessof the finite time output feedback attitude tracking control method is shown through a simulation result.

Description

technical field [0001] The invention relates to a limited time output feedback attitude tracking control method of an aircraft. Background technique [0002] With the development of aerospace technology, complex and variable flight missions require precise and efficient attitude control of the aircraft. As an important research direction, high-performance attitude tracking control of aircraft has received extensive attention. At present, there have been many results of research on the attitude tracking of aircraft using different methods, such as the attitude tracking control method combining robust control and adaptive control, the attitude tracking control method based on terminal sliding mode, and the establishment of attitude tracking controller based on backstepping method Wait. [0003] Most of the attitude tracking controller constructions in these results are based on full state feedback, which means that the algorithm design requires the attitude and velocity info...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 赵林陈潇于金鹏刘振
Owner QINGDAO UNIV
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