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Four-rotor aircraft formation sliding mode control method based on event triggering mechanism

A four-rotor aircraft and event-triggered technology, which is applied in attitude control, control/adjustment system, non-electric variable control, etc., can solve the problems of frequent communication and achieve the effects of prolonging flight time, saving energy and reducing communication frequency

Active Publication Date: 2021-03-30
南京权博信息科技有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a four-rotor aircraft formation sliding mode control method based on an event trigger mechanism to solve the problem of frequent communication between quad-rotor aircraft, relieve communication pressure and reduce energy consumption of quad-rotor aircraft

Method used

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  • Four-rotor aircraft formation sliding mode control method based on event triggering mechanism
  • Four-rotor aircraft formation sliding mode control method based on event triggering mechanism
  • Four-rotor aircraft formation sliding mode control method based on event triggering mechanism

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Embodiment

[0151] Such as figure 1 As shown, the goal is to design the formation controller, so that the four quadrotors can maintain the desired formation and fly on the desired trajectory under the leadership of the virtual leader.

[0152] Such as figure 2 As shown, the control structure of the quadrotor aircraft in the formation can be decoupled into the outer loop position subsystem and the inner loop attitude subsystem, and the information of adjacent quadrotor aircraft can be obtained.

[0153] Such as image 3 As shown in , it represents the communication topology of the quadrotor aircraft formation, where 0 represents the virtual leader, and 1-4 represent four quadrotor aircraft. The adjacency matrix and connectivity matrix can be expressed as

[0154]

[0155]

[0156] Such as Figure 4 As shown, it can be seen that the estimation error of the extended state observer can quickly converge to 0, indicating that the extended state observer meets the system requirements....

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Abstract

The invention discloses a four-rotor aircraft formation sliding mode control method based on an event triggering mechanism, and belongs to the technical field of unmanned aerial vehicle control. The method comprises the steps of firstly, deriving a kinetic equation of the four-rotor aircraft according to a Newton-Euler formula; secondly, assuming that the disturbance is unknown and cannot be modeled, estimating the disturbance by using an extended state observer, and feeding back the disturbance to a controller for compensation; thirdly, decoupling the model of the four-rotor aircraft into anouter-loop position subsystem and an inner-loop attitude subsystem, designing an inner-loop controller and an outer-loop controller based on event triggering, sliding mode control and graph theory knowledge, and proving the stability of the system by utilizing a Lyapunov stability theorem; and finally, verifying the effectiveness of the proposed method by a simulation result. According to the invention, the four-rotor aircraft formation can be effectively controlled, the communication frequency among the four-rotor aircrafts is reduced, the energy is saved, and the flight time is prolonged.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to a four-rotor aircraft formation sliding mode control method based on an event trigger mechanism. Background technique [0002] A quadrotor is an underactuated system with 4 control inputs and 6 degrees of freedom. The quadrotor aircraft uses the high-speed rotation of four propellers to generate lift. It has the advantages of small size and mass, good concealment and safety, flexible vertical take-off and landing, low flying height, strong maneuverability, simple structure, flexible operation and low cost. , showing great application value in military and civil fields. However, when completing complex tasks, the application of a single quadrotor aircraft is limited due to its limited load. Instead, formations of quadrotors work together to accomplish missions. Therefore, it is of great theoretical and practical value to study the formation c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/104
Inventor 张良银徐江涛王介鹏陈志强
Owner 南京权博信息科技有限公司
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