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Self-adaptive fuzzy active disturbance rejection control method of variable-load quadrotor unmanned aerial vehicle

A four-rotor unmanned aerial vehicle and active disturbance rejection control technology, which is applied in the field of unmanned aerial vehicles, can solve the problems such as the difficulty in adjusting the adjustment parameters of the active disturbance rejection controller, and the large error in the disturbance estimation compensation of the active disturbance rejection controller.

Active Publication Date: 2021-03-23
EAST CHINA JIAOTONG UNIVERSITY
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Problems solved by technology

However, due to the nonlinear time-varying external load disturbance and other influences in the actual variable load UAV flight control system, the disturbance estimation compensation of the ADRC controller is prone to large errors, and the ADRC controller has too many adjustment parameters. Defects that are difficult to fix

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  • Self-adaptive fuzzy active disturbance rejection control method of variable-load quadrotor unmanned aerial vehicle
  • Self-adaptive fuzzy active disturbance rejection control method of variable-load quadrotor unmanned aerial vehicle
  • Self-adaptive fuzzy active disturbance rejection control method of variable-load quadrotor unmanned aerial vehicle

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[0119] The technical solution in the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them.

[0120] In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral Ground connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

[0121] refer to Figure 1-3 As shown, a preferred embodiment of the present invention, a kind of adaptive fuzzy active distu...

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Abstract

The invention relates to the technical field of unmanned aerial vehicles, particularly to a self-adaptive fuzzy active disturbance rejection control method of a variable-load quadrotor unmanned aerialvehicle. The method comprises the following steps: establishing a variable-load quadrotor unmanned aerial vehicle system model; designing a self-adaptive control system for the variable-load quadrotor unmanned aerial vehicle system model based on a self-adaptive variable-load compensation method; and introducing a fuzzy control method into the self-adaptive control system, and optimizing the self-adaptive control system to obtain the fuzzy active disturbance rejection control system. According to the invention, the adaptive control system provided by the invention can quickly and accurately track and estimate the load variation, so that the external disturbance compensation coefficient of the active disturbance rejection controller can be corrected according to the dynamic change of the load, and the robustness and stability of load disturbance resistance of a nonlinear time-varying unmanned aerial vehicle system are enhanced; and fuzzy control is applied to the active disturbance rejection controller, online self-tuning adjustment is carried out on control parameters by formulating a reasonable fuzzy reasoning rule, and the response speed of the system can be effectively increased.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an adaptive fuzzy active disturbance rejection control method for a variable-load quadrotor unmanned aerial vehicle. Background technique [0002] With the development of micro-electro-mechanical systems (MEMS) in the field of science and technology, the application range of drones has also become wider. UAVs can replace manual work to complete some high-risk and high-intensity tasks, such as military missions, spraying pesticides, delivering express delivery, circuit inspections, etc. Due to the fact that the actual drone flight is susceptible to changes in the load quality and the surrounding unknown environment, the load system of the drone will change suddenly, resulting in the drone's height drop or attitude imbalance, making it impossible to complete complex high-altitude flight tasks. Therefore, it is considered to establish a variable load quadrotor UAV ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 徐雪松吴仪政倪赟
Owner EAST CHINA JIAOTONG UNIVERSITY
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