Unmanned aerial vehicle modal conversion nonlinear control method, equipment and medium

Abstract

The invention discloses an unmanned aerial vehicle modal conversion nonlinear control method, equipment and a medium, and belongs to the field of unmanned aerial vehicle control. The method comprises the following steps: establishing an uncertainty parameter model with a convex polyhedron; designing a nonlinear robust state feedback H-infinity controller; converting a control design problem into a quadratic sum convex optimization problem; solving a controller, and building a simulation platform; according to the method, parameter perturbation is firstly limited in a convex polyhedron set, namely, the parameter perturbation is expressed as convex polyhedron uncertainty, and a novel nonlinear robust H-infinity control method based on the quadratic sum is correspondingly designed; according to the method, modal conversion control of the tilt-rotor unmanned aerial vehicle can be well realized, and the method has relatively high robustness on external disturbance and parameter perturbation; according to the method, the dynamic characteristics of the tilt-rotor unmanned aerial vehicle in the mode conversion stage are described by adopting the convex polyhedron uncertain nonlinear variable parameter model, the nonlinearity, time variation and uncertainty of the tilt-rotor unmanned aerial vehicle can be described more accurately, and the reliability and action range of the overall control design are improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to a non-linear control method, equipment and storage medium for modal conversion of an unmanned aerial vehicle. Background technique [0002] Tilt-rotor UAVs have the advantages of both helicopters and fixed-wing aircraft. They can take off and land vertically like a helicopter, hover in the air, and can fly at high speed and long endurance like a fixed-wing aircraft. They are widely used in military and civilian fields. . However, the tiltrotor UAV dynamics system is non-affine, with significant nonlinearity, time-varying, strong coupling and uncertainty, which brings great challenges to its flight control design. [0003] Gain scheduling and model tracking are two commonly used control methods in the modal transition stage of tiltrotor UAVs. However, the gain scheduling control method needs to take the tilt angle as the scheduling variable. When the scheduling var...

AI Technical Summary

Problems solved by technology

The existing polynomial system research based on the sum of squares ignores the time-varying characteristics, and the LPV method belongs to the category of segmented linear systems, which cannot faithfully reflect the nonlinear dynamic characteristics of the original controlled object

Images