Improved self-anti-interference control method for track inclination angle of quad-rotor unmanned aerial vehicle

Abstract

The invention discloses an improved self-anti-interference control method for a track inclination angle of a quad-rotor unmanned aerial vehicle. The improved self-anti-interference control method for the flight path inclination angle of the quad-rotor unmanned aerial vehicle comprises the steps that under the condition that the quad-rotor unmanned aerial vehicle is uniform in mass and consistent in axial symmetry cylinder body, four sets of motors and fun-escape parameters, establishing an equation of motion around the mass center of the unmanned aerial vehicle and representing a state-space equation; designing a reference signal observer formula according to a state-space equation of the unmanned aerial vehicle, a double-observer active-disturbance-rejection working principle and a bipolar S-curve function; designing a disturbance observer formula according to a state-space equation of the unmanned aerial vehicle and a double-observer active-disturbance-rejection working principle; designing a nonlinear feedback control law according to the bipolar S-curve function. The method has the advantages of few online mediation parameters, simplified controller design and use and the like.

Description

Technical field [0001] The present invention relates to the technical findings of a four-wing drone control method, and more particularly to an improved self-anti-interference control method for a four-cyclic drone trajectory incorporation. Background technique [0002] Four rotorless drone (UAV) has complex control issues such as nonlinear, interference sensitive and strong coupling, and research the right control algorithm has become the key to improving the control of four rotorian drones. At present, the four-rotorless artificial posture control method is mainly divided into two major categories, model classes and no model classes. The former models mainly include: anti-stepping, sliding mode control, adaptive control method, robust Algorithm, neural network control algorithm, etc. Such methods rely on precise four-rotorless drone mechanical models, it is difficult to solve the negative effects of uncertainty of four rotorless drone model parameters and external disturbance....

AI Technical Summary

Problems solved by technology

[0004] However, the conventional ADR nonlinear function is a piecewise function, which has the problem of many adjustment parameters. Therefore, an improvement of the track inclination angle of the quadrotor UAV and an ADR control method are provided, which can solve the above problems.

Images