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Quad-rotor unmanned aerial vehicle landing control method based on nonlinear disturbance observer

A four-rotor UAV, disturbance observer technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2021-09-14
TIANJIN UNIV
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Problems solved by technology

Few of the current studies have experimentally validated the perturbation observer

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  • Quad-rotor unmanned aerial vehicle landing control method based on nonlinear disturbance observer
  • Quad-rotor unmanned aerial vehicle landing control method based on nonlinear disturbance observer
  • Quad-rotor unmanned aerial vehicle landing control method based on nonlinear disturbance observer

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Embodiment Construction

[0057] In order to overcome the deficiencies of the prior art, the present invention aims to propose a robust controller based on a nonlinear disturbance observer to better suppress the interference of the ground effect on the UAV during the landing process of the quadrotor UAV. For this reason, the technical scheme that the present invention adopts is, the four-rotor unmanned aerial vehicle ground effect compensation landing control method based on the nonlinear disturbance observer, comprises the following steps: establish the nonlinear dynamic model of the four-rotor unmanned aerial vehicle landing process, design The nonlinear terminal sliding mode finite-time convergence observer is designed, and then the nonlinear robust controller is designed to realize the landing control of the quadrotor UAV. Specific steps are as follows:

[0058] Step 1) determine the coordinate system definition of the quadrotor UAV;

[0059] The definition of the quadrotor UAV coordinate system m...

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Abstract

The invention relates to a quad-rotor unmanned aerial vehicle landing control technology, and provides a robust controller based on a nonlinear disturbance observer, so that interference of a ground effect on an unmanned aerial vehicle can be well suppressed in a quad-rotor unmanned aerial vehicle landing process. According to the technical scheme adopted by the invention, the quad-rotor unmanned aerial vehicle landing control method based on the nonlinear disturbance observer comprises the following steps: establishing a nonlinear dynamic model of a quad-rotor unmanned aerial vehicle landing process, designing a nonlinear terminal sliding mode finite time convergence observer, and designing a nonlinear robust controller to realize landing control of the quad-rotor unmanned aerial vehicle. The quad-rotor unmanned aerial vehicle landing control method is mainly applied to quad-rotor unmanned aerial vehicle landing control occasions.

Description

technical field [0001] The invention relates to a landing control technology of a quadrotor UAV, and in particular, relates to a landing control method for a quadrotor UAV under the influence of ground effects. Background technique [0002] In recent years, quadrotor drones have been widely used in rescue search, battlefield cruise, and cargo transportation due to their simple structure, vertical take-off and landing, and high flexibility. The UAV recovery technology after completing the mission is one of the key technologies in the aerospace field. Among the various recovery methods, the vertical landing method of the quadrotor UAV has a small footprint and is less constrained by the ground. Therefore, the precise landing and autonomous recovery of quadrotor drones have attracted the attention of many scholars at home and abroad. [0003] During the landing process, the position of the quadrotor UAV needs to be precisely controlled, and the accuracy of the control directl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T90/00
Inventor 鲜斌李杰奇
Owner TIANJIN UNIV
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