Design method and application of unmanned aerial vehicle variable parameter neurodynamics controller

Abstract

The invention discloses a design method and application of an unmanned aerial vehicle variable parameter neurodynamics controller. The method comprises the following steps: constructing an unmanned aerial vehicle model; designing a height controller, a yaw angle controller, a roll angle controller, a pitch angle controller, an X controller and a Y controller of the unmanned aerial vehicle by adopting a variable parameter recurrent neurodynamics method based on the unmanned aerial vehicle model; and inputting the control target and unmanned aerial vehicle state information collected by the unmanned aerial vehicle sensor into controllers of all unmanned aerial vehicles, and enabling the controllers of all unmanned aerial vehicles to output control components to control flight of the unmannedaerial vehicles. According to the method, a nonlinear activation function is utilized, and the obtained controller can enable the unmanned aerial vehicle to converge to a target more quickly under the condition of large errors and achieve higher precision under the condition of approaching a task target, so that the unmanned aerial vehicle can control the unmanned aerial vehicle to track a time-varying trajectory quickly, accurately and in real time.

Description

technical field [0001] The invention relates to the technical field of UAV controllers, in particular to a design method and application of a UAV variable parameter neural dynamics controller. Background technique [0002] Multi-rotor UAV is a kind of flexible and simple UAV. In order to reflect its flexible superiority, it is particularly important whether the controller can quickly and efficiently control the multi-rotor UAV with high precision. [0003] The existing UAV controllers mainly use PID controllers, but because of its time-invariant algorithm, its convergence speed is not enough to complete the time-varying task objectives, and the advantages of PID are gradually declining. Reproducibility makes it difficult to complete high-precision control tasks that need to change parameters all the time, and the parameter setting of the PID controller is too dependent on the designer's experience. Contents of the invention [0004] In order to overcome the defects and de...

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Problems solved by technology

[0003] The existing UAV controllers mainly use PID controllers, but because of its time-invariant algorithm, its convergence speed is not enough to complete the time-varying task objectives, and the advantages of PID are gradually declining. Reproducibility makes it difficult to complete high-precision control tasks that need to change parameters all the time, and the parameter setting of the PID controller is too dependent on the designer's experience

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