Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback

A technology of output feedback and quadrotor aircraft, which is applied in attitude control, non-electric variable control, control/regulation system, etc., and can solve problems such as model parameter uncertainty

Active Publication Date: 2020-10-13
NORTHEAST DIANLI UNIVERSITY +2
View PDF12 Cites 9 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the deficiencies in the prior art, the present invention aims at the problem of model parameter uncertainty existing in the quadrotor aircraft system, and aims to provide an adaptive output feedback fuzzy dynamic surface with good robustness and satisfying preset tracking performance. sliding mode controller

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback
  • Four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback
  • Four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0254] Use the attached Figure 1-15 The invention is further explained by the semi-physical simulation experiment. The four-rotor adaptive dynamic surface sliding mode controller based on output feedback includes the following steps:

[0255] Step 1) Construct a quadrotor aircraft system model with model parameter uncertainty as shown in formula 1:

[0256]

[0257] The considered quadrotor has the following nonlinear form:

[0258]

[0259] in, is the state variable, and the symbols φ, θ, ψ represent roll angle, pitch angle and yaw angle. The symbols x, y, z represent the horizontal position and height relative to the ground coordinate system. U=[U 1 ,U 2 ,U 3 ,U 4 ] T is the control input signal of the quadrotor, and the function f and function g represent nonlinear smooth functions. In order to facilitate the controller design of the position subsystem and the attitude subsystem, it can be written in the form of state space:

[0260]

[0261] where g i...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback. The four-rotor self-adaptive dynamic surface sliding mode controller comprises thefollowing steps: 1) constructing a four-rotor system model containing model parameter uncertainty; 2) introducing an error performance function, converting the tracking error of the four-rotor systeminto a new error constraint variable, and ensuring that the system achieves predetermined tracking performance; 3) designing a fuzzy logic system approximator for approximating complex and uncertain unknown items existing in the four-rotor aircraft, and replacing each item of the estimated weight vector with a norm of the estimated weight; 4) designing a nonlinear state observer to estimate the unmeasurable angular velocity state of the four-rotor aircraft; and 5) combining the dynamic surface with sliding mode control, and designing the four-rotor adaptive fuzzy dynamic surface sliding mode controller based on output feedback. The controller designed by the invention can ensure the flight quality of the four rotors, improve the robustness of the system, and realize that the tracking effect meets the preset conditions.

Description

technical field [0001] The invention belongs to the field of four-rotor aircraft control systems, and in particular relates to an intelligent control algorithm, that is, a four-rotor self-adaptive dynamic surface sliding mode controller based on output feedback. Background technique [0002] As a new product in the field of small unmanned aerial vehicle (UAV), quadrotor aircraft (UAV) has become a research hotspot of researchers and scholars all over the world. The main advantages of quadrotor aircraft are: flying in any direction, vertical take-off and landing, hovering with ideal attitude, etc., which makes quadrotor aircraft widely used in many fields, such as providing medical assistance, transporting special resources, disaster monitoring and Agricultural drawing, etc. However, due to the multivariable, nonlinear, underactuated, and strongly coupled characteristics of the quadrotor aircraft system, it is very difficult to design an effective and robust flight controlle...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101Y02T90/00
Inventor 祝国强王森张秀宇张欢孙灵芳王建国王松寒
Owner NORTHEAST DIANLI UNIVERSITY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com