Finite time control method for variable-load quadrotor unmanned aerial vehicle

A four-rotor unmanned aerial vehicle, limited time technology, applied in the direction of non-electric variable control, attitude control, control/regulation system, etc., can solve problems that cannot meet the needs of practical applications

Active Publication Date: 2021-04-09
HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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AI Technical Summary

Problems solved by technology

With the development of the control level, the asymptotically stable results can no longer meet the needs of practical applications. Researchers hope that the control goal can be achieved as soon as possible, and the finite time control is produced.

Method used

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  • Finite time control method for variable-load quadrotor unmanned aerial vehicle
  • Finite time control method for variable-load quadrotor unmanned aerial vehicle
  • Finite time control method for variable-load quadrotor unmanned aerial vehicle

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Embodiment Construction

[0103] as attached figure 1 Shown, the present invention comprises the steps:

[0104] (1) Mathematical model of quadrotor UAV

[0105] First, by searching relevant literature and combining with reality, the disturbance and uncertainty factors encountered during the flight of the quadrotor UAV are analyzed, and the position subsystem of the quadrotor UAV is established according to the relevant dynamics, physics, and Euler angle descriptions. and the mathematical model of the attitude subsystem. with vector(x,y,z) T and (φ,θ,ψ) T The position information and attitude information of the quadrotor UAV are described respectively. The mathematical model of the position subsystem is expressed as a state equation in the form of:

[0106]

[0107] where the state variable Mass compensation coefficient α i (i=x, y, z) is a constant for online estimation of the load variation of the quadrotor UAV. m x =m y =m z Indicates the mass of the drone body. is the drag coeffici...

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Abstract

The invention relates to a finite time control method for a variable-load quadrotor unmanned aerial vehicle. Aiming at a variable-load quadrotor unmanned aerial vehicle model, a position loop performs real-time online estimation on load change parameters based on an adaptive control algorithm, and an adaptive backstepping controller is designed. An attitude loop carries out online estimation on interference through a disturbance observer, a sliding mode surface is further improved, a new finite time stability criterion is introduced, and a finite time sliding mode controller is designed. Therefore, the convergence speed of the system is higher, the anti-interference capability is stronger, the steady-state and transient-state performances are better, and the method is more suitable for practical application.

Description

technical field [0001] The invention relates to a limited-time control method of a variable-load quadrotor UAV. Background technique [0002] For nonlinear control systems such as quadrotor UAVs, most of the existing control methods can only obtain asymptotically stable results, that is, only when the time tends to infinity, the state of the system can converge to the equilibrium point. With the development of the control level, the asymptotically stable results can no longer meet the needs of practical applications. Researchers hope that the control goal can be realized as soon as possible, and the finite-time control comes into being. At present, for different nonlinear control systems, the finite-time control methods mainly include the following categories: continuous finite-time control, discontinuous finite-time control, smooth finite-time control, etc., all of which have achieved certain research results. Since finite-time stability limits the convergence time, finite...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0833
Inventor 武晓晶郑文棪吴学礼甄然
Owner HEBEI UNIVERSITY OF SCIENCE AND TECHNOLOGY
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