Loaded quadrotor unmanned aerial vehicle speed control method with completely unknown model parameters

Abstract

The invention discloses a loaded quadrotor unmanned aerial vehicle speed control method with completely unknown model parameters. The method comprises the steps: 1) establishing a kinetic model of a loaded quadrotor unmanned aerial vehicle; (2) setting a speed tracking error ev = v-v * and ew = w-w * of the unmanned aerial vehicle; (3) preprocessing an unknown gain matrix B by using matrix decomposition; and (4) designing controllers of a translation subsystem and a rotation subsystem of the loaded quadrotor unmanned aerial vehicle under the condition that the model parameters are completelyunknown. According to the invention, actual application conditions of the loaded unmanned aerial vehicle, such as completely unknown model parameters, time-varying unknown gain matrixes, actuator saturation and actuator faults, are considered; the design problem of the controller under the condition that the gain matrix is unknown after loading is solved; the proposed controller not only can ensure that all internal signals in a closed-loop system are bounded and continuous, but also can ensure that final errors converge to a small tight set, and can ensure that state constraint conditions arenot violated in the process of obtaining good trajectory tracking performance.

Description

technical field [0001] The invention relates to the technical field of drone control, in particular to a speed control method of a loaded quadrotor drone. Background technique [0002] The propulsion system of the rotary-wing UAV is provided by multiple rotors. For example, a quadrotor UAV, when the thrust generated by the four propellers with motors is greater than the gravity and air resistance of the UAV itself, the UAV can take off. The attitude flight control of the UAV is performed by adjusting the speed of each motor to change the speed of each rotor by feeding back state information from the control system. [0003] In practical applications, quadrotor drones inevitably need to carry mission equipment or cameras to perform specific tasks. Generally, four-rotor drones generally adopt two methods of clamping and suspension. For example, when taking aerial photography, the clamping method must be used. This is to prevent the quadrotor UAV from flying unstable due to ...

AI Technical Summary

Problems solved by technology

In fact, after carrying the load, the center of mass of the entire quadrotor UAV delivery system usually has a certain offset, resulting in the center of mass and the geometric center of the fuselage being not in the same position, and the moment of inertia will also change. These uncertain factors Will affect the stability of the quadrotor UAV control system

Therefore, it brings arduousness, complexity and challenges to the mathematical modeling work and control strategy design of UAVs

[0005] Since the quadrotor UAV always needs to ensure continuous and stable flight in a dynamic environment, the amount of control required by the controller may exceed the maximum amount of control provided by the actuator of the UAV, which will cause a rapid decline in the performance of the UAV control system. , unable to complete the specified tasks normally, and even cause the crash of the control system

At the same time, failures of actuators, states, sensors, etc. may also occur in UAVs, which will also lead to significant performance degradation, and even catastrophic consequences such as crashes.

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