Novel unmanned aerial vehicle attitude system integral sliding mode control method based on disturbance observer

Abstract

The invention relates to a novel unmanned aerial vehicle attitude system integral sliding mode control method and device based on a disturbance observer, an unmanned aerial vehicle and a storage medium. The method comprises the following steps: acquiring parameter errors and external disturbance observed by a disturbance observer in real time; inputting the parameter error and the external disturbance into a novel integral sliding mode controller, so that the novel integral sliding mode controller outputs a control signal to control the attitude of the unmanned aerial vehicle according to the parameter error and the external disturbance; wherein the construction mode of the novel integral sliding mode controller is as follows: according to the dynamic characteristics of the unmanned aerial vehicle, constructing an unmanned aerial vehicle attitude dynamic system model; determining an attitude angle error, and constructing an integral sliding mode surface; constructing an integral sliding mode reaching law; and according to the unmanned aerial vehicle attitude dynamics system model, the integral sliding mode surface and the integral sliding mode reaching law, a novel integral sliding mode controller is constructed, so that the problem that transient performance is weakened during initial control is relieved.

Description

technical field [0001] The present application relates to the technical field of unmanned aerial vehicle attitude system control, in particular to a novel integrated sliding mode control method, device, computer storage medium and unmanned aerial vehicle based on a disturbance observer. Background technique [0002] With the development of unmanned aerial vehicle technology, unmanned aerial vehicles can realize the collection of high-resolution images. While making up for the shortcomings of satellite remote sensing that often cannot obtain images due to cloud cover, it also solves the problem of long revisit cycle of traditional satellite remote sensing and emergency response. Untimely and other issues, therefore, UAVs are widely used in various fields, such as: plant protection, military, personal, forest fire fighting and so on. [0003] At present, there are endless controllers for drones. The traditional integral sliding mode is one of them. The traditional integral sli...

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Problems solved by technology

[0003] At present, there are endless controllers for drones. The traditional integral sliding mode is one of them. The traditional integral sliding mode control method makes the system state slide to the target state by applying a nonlinear signal, and the system state slides through the curve It is called a sliding mode surface, but the traditional integral sliding mode control method will have a large transient performance problem in the initial control

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