CN107256028A - Lost-control protection control algolithm under the diagonal power loss state of quadrotor - Google Patents

Lost-control protection control algolithm under the diagonal power loss state of quadrotor Download PDF

Info

Publication number
CN107256028A
CN107256028A CN201710606622.2A CN201710606622A CN107256028A CN 107256028 A CN107256028 A CN 107256028A CN 201710606622 A CN201710606622 A CN 201710606622A CN 107256028 A CN107256028 A CN 107256028A
Authority
CN
China
Prior art keywords
mrow
msub
mtd
mtr
mfrac
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710606622.2A
Other languages
Chinese (zh)
Other versions
CN107256028B (en
Inventor
胡凯健
吴玉虎
孙希明
汪锐
吴振宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liaoning Lucheng Intelligent Manufacturing Co ltd
Original Assignee
Dalian University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian University of Technology filed Critical Dalian University of Technology
Priority to CN201710606622.2A priority Critical patent/CN107256028B/en
Publication of CN107256028A publication Critical patent/CN107256028A/en
Application granted granted Critical
Publication of CN107256028B publication Critical patent/CN107256028B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
  • Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses the lost-control protection control algolithm under a kind of diagonal power loss state of quadrotor, its step is：S1, hypothesis quadrotor 1, No. 3 motors run out of steam, then abandon driftage and the control of luffing angle；S2, based on τθ=0 and the angle of pitch and roll angle have vital effect to quadrotor smooth flight；Choose Fr, F 'input=G ' Fr, solve；S3, determination are after 2 diagonal motor damages, the mathematical modeling of quadrotor；S4, order expect that posture is φdAnd θd, desired position is xd、ydAnd zd；S5, set up error system.

Description

Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state
Technical Field
The invention relates to the technical field of four-rotor aircrafts, in particular to an out-of-control protection control algorithm of a four-rotor aircraft in a diagonal power loss state.
Background
The Quadrotor aircraft (Quadrotor) is an Unmanned Aerial Vehicle (UAV), which has 4 motors, the rotating directions of adjacent motors are opposite, the rotating directions of opposite motors are the same, and the rolling, pitching, yawing and vertical upward control effects can be realized by changing the rotating speed of the motors. A quad-rotor aircraft typically includes a frame, 4 brushless dc motors, 2 pairs of propellers, a flight control panel, an electronic governor, a power battery, a GPS and other components, the flight control panel includes high performance microprocessors, sensors, power management and other modules, and the common sensors include a three-axis accelerometer, a magnetometer, a gyroscope, a barometer, and the like. Therefore, the four-rotor aircraft has the advantages of simple mechanical structure, easiness in design, convenience in carrying and the like. Owing to the design characteristics of the four-rotor aircraft, the four-rotor aircraft can realize actions such as vertical take-off and landing, hovering in the air, high-maneuverability flight and the like in a complex environment. In addition, the four-rotor aircraft is also a good aerial platform, for example, the four-rotor aircraft carries a camera for aerial photography, short-distance aerial transportation or carries out tasks of climbing wall surfaces and grabbing heavy objects after being equipped with mechanical arms.
With the development of society and the improvement of economy, the development speed of the four-rotor aircraft is changing day by day and is advancing at an explosive speed. With the increase of the number of the four-rotor aircrafts, the corresponding problems caused by flight faults of the four-rotor aircrafts are more and more, wherein the highest frequency is faults such as aircraft diagonal power loss, and the causes of aircraft diagonal power loss are many, for example: damage to the propeller, motor or electronic governor, etc. Under the state that the propeller is damaged, the aircraft has diagonal power loss, and the quad-rotor aircraft can have flight faults and even fall, so that how to control the flight of the quad-rotor aircraft under the diagonal power loss becomes an urgent need to be considered in the industry.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an out-of-control protection control algorithm of a four-rotor aircraft in a diagonal power loss state, so that the problem of controlling the balanced flight of the four-rotor aircraft in the diagonal power loss state of the aircraft caused by propeller damage or other faults is solved.
In order to realize the purpose, the invention is realized by the following technical scheme:
a four-rotor aircraft out-of-control protection control algorithm under a diagonal power loss state comprises the following steps:
s1, if two symmetric propellers of the four-rotor aircraft are damaged, the power of the opposite angle is lost; suppose four-rotor aircraft No. 1, 3When the motor loses power, the lift force F1＝F3＝0；
Wherein F represents the lift force generated by the cooperation of a single motor and a propeller, and F1And F3Respectively representing the lifting force generated by No. 1 and No. 3 motors.
The relationship between the model control quantity and the motor lift force is:
Finput＝GFr,\*MERGEFORMAT(0.15)
wherein:
wherein,coefficient of lift of propeller cTThe coefficient of propeller torque is cQ(ii) a l is the distance from the motor to the center of mass of the aircraft;
because rank (G: F)input) 3 > rank (g) 2, equation without solution
In order to be able to solve the equation, the control of the yaw and pitch angles is abandoned;
s2 based on tauθThe pitch angle and the roll angle are 0, and the four-rotor aircraft has a vital effect on the stable flight; selecting the following formula to solve Fr
Fi′nput＝G′Fr,\*MERGEFORMAT(0.16)
Wherein:
the following can be obtained:
from the above formula, τ is knownψ＝-σFl,τθ＝0；τφIs roll torque, FlIs the total lift, τ, of the aircraftΨIs yaw torque, τθIs the pitch torque;
s3, determining that after the 2 diagonal motors are damaged, the mathematical model of the four-rotor aircraft is expressed as follows:
s*＝sin*，c*＝cos*，t*＝tan*；
η＝[φ θ ψ]Tthe Euler angle is used for describing the attitude information of the four-rotor aircraft; the Euler angle is called the Kaerdan angle (Tait-Bryan) and is defined by sequential rotations of the z-y-x axis, which are respectively a yaw angle (yaw) around the z axis and denoted by psi; rotation about the y-axis is the pitch angle (pitch), denoted by θ; rotation about the x-axis is the roll angle (roll), denoted by φ;
ξ＝[x y z]Tthe position of the quadrotor aircraft under an inertial coordinate system; upsilon [ ]xυyυz]TThe speed of the quad-rotor aircraft in the inertial coordinate system; i ═ diag (I) for moment of inertiaxx,Iyy,Izz) The aircraft mass is denoted by m, ω ═ pqr]TThe angular speed of the four-rotor aircraft around the shaft under a body coordinate system;
s4, let the expected attitude be phidThe desired position is xd、ydAnd zd；
The following error system was established:
from the above formula, one can obtain:
the position errors in equations (1.7) and (1.8) are recombined as shown below:
thus, can obtain
As an improvement to the above solution, the target (x) is controlled for the horizontal position control system (1.4)d,yd) Obtaining a horizontal position control type for a second-order micro horizontal position track;
if the virtual control input phidGiven as follows:
wherein
The horizontal position tracking error eh1,eh2The index stabilizes at zero equilibrium point.
Compared with the prior art, the invention has the following beneficial effects:
the out-of-control protection control algorithm of the four-rotor aircraft in the diagonal power loss state solves the problem of controlling the flight of the four-rotor aircraft in the diagonal power loss state when a propeller is damaged or a motor is damaged. Under the condition that 2 opposite propellers of the four-rotor aircraft are damaged or motors are damaged, namely, the diagonal power loss is caused, the balanced flight of the four-rotor aircraft can still be controlled by the method.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a control structure diagram of the present invention in a state where a diagonal motor is damaged.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived from the embodiments of the present invention by a person skilled in the art without any creative effort, should be included in the protection scope of the present invention.
As shown in fig. 1, this figure depicts the controller structure under diagonal power failure. The controller is divided into an inner ring and an outer ring, wherein the inner ring is controlled by a horizontal position, and the outer ring is controlled by a height and a roll angle. Red crosses represent the amount by which the aircraft is not given in this state; arrows represent the direction of information flow; the symbol above the line is the name of the information.
The invention relates to an out-of-control protection control algorithm of a four-rotor aircraft in a diagonal power loss state, which comprises the following steps:
s1, if two symmetric propellers of the four-rotor aircraft are damaged, the power of the opposite angle is lost; if the No. 1 and No. 3 motors of the four-rotor aircraft lose power, the lift force F is generated1＝F3＝0；
Wherein F represents the lift force generated by the cooperation of a single motor and a propeller, and F1And F3Respectively representing the lifting force generated by No. 1 and No. 3 motors.
The relationship between the model control quantity and the motor lift force is:
Finput＝GFr,\*MERGEFORMAT(0.28)
wherein:
wherein,coefficient of lift of propeller cTThe coefficient of propeller torque is cQ(ii) a l is the distance from the motor to the center of mass of the aircraft;
because rank (G: F)input) 3 > rank (g) 2, equation without solution
In order to be able to solve the equation, the control of the yaw and pitch angles is abandoned;
s2 based on tauθThe pitch angle and the roll angle are 0, and the four-rotor aircraft has a vital effect on the stable flight; selecting the following formula to solve Fr
Fi′nput＝G′Fr,\*MERGEFORMAT(0.29)
Wherein:
the following can be obtained:
from the above formula, τ is knownψ＝-σFl,τθ＝0；τφIs roll torque, FlIs the total lift, τ, of the aircraftΨIs yaw torque, τθIs the pitch torque;
s3, determining that after the 2 diagonal motors are damaged, the mathematical model of the four-rotor aircraft is expressed as follows:
s*＝sin*，c*＝cos*，t*＝tan*；
η＝[φ θ ψ]Tfor Euler angles, for describing quad-rotor aircraftThe attitude information of (a); the Euler angle is called the Kaerdan angle (Tait-Bryan) and is defined by sequential rotations of the z-y-x axis, which are respectively a yaw angle (yaw) around the z axis and denoted by psi; rotation about the y-axis is the pitch angle (pitch), denoted by θ; rotation about the x-axis is the roll angle (roll), denoted by φ;
ξ＝[x y z]Tthe position of the quadrotor aircraft under an inertial coordinate system; upsilon [ ]xυyυz]TThe speed of the quad-rotor aircraft in the inertial coordinate system; i ═ diag (I) for moment of inertiaxx,Iyy,Izz) The aircraft mass is denoted by m, ω ═ pqr]TThe angular speed of the four-rotor aircraft around the shaft under a body coordinate system;
s4, let the expected attitude be phidThe desired position is xd、ydAnd zd；
The following error system was established:
from the above formula, one can obtain:
the position errors in equations (1.7) and (1.8) are recombined as shown below:
thus, can obtain
As an improvement to the above solution, the target (x) is controlled for the horizontal position control system (1.4)d,yd) Obtaining a horizontal position control type for a second-order micro horizontal position track;
if the virtual control input phidGiven as follows:
wherein
The horizontal position tracking error eh1,eh2The index stabilizes at zero equilibrium point.
Compared with the prior art, the invention has the following beneficial effects:
the out-of-control protection control algorithm of the four-rotor aircraft in the diagonal power loss state solves the problem of controlling the flight of the four-rotor aircraft in the diagonal power loss state when a propeller is damaged or a motor is damaged. Under the condition that 2 opposite propellers of the four-rotor aircraft are damaged or motors are damaged, namely, the diagonal power loss is caused, the balanced flight of the four-rotor aircraft can still be controlled by the method.

Claims (3)

1. The utility model provides a four rotor crafts protection control algorithm out of control under diagonal power loss state which characterized in that: the four-rotor aircraft out-of-control protection control algorithm comprises the following steps:
s1, if two symmetric propellers of the four-rotor aircraft are damaged, the power of the opposite angle is lost; if the No. 1 and No. 3 motors of the four-rotor aircraft lose power, the lift force F is generated1＝F3＝0；
Wherein F represents the lift force generated by the cooperation of a single motor and a propeller, and F1And F3Respectively represent the lifting force generated by No. 1 and No. 3 motors；
The relationship between the model control quantity and the motor lift force is:
Finput＝GFr,\*MERGEFORMAT (0.1)
wherein:
wherein,coefficient of lift of propeller cTThe coefficient of propeller torque is cQ(ii) a l is the distance from the motor to the center of mass of the aircraft;
because rank (G: F)input) 3 > rank (g) 2, equation is not solved;
in order to be able to solve the equation, the control of the yaw and pitch angles is abandoned;
s2 based on tauθThe pitch angle and the roll angle are 0, and the four-rotor aircraft has a vital effect on the stable flight; selecting the following formula to solve Fr：
F′input＝G′Fr,\*MERGEFORMAT (0.2)
Wherein:
the following can be obtained:
from the above formula, τ is knownψ＝-σFl,τθ＝0；τφIs roll torque, FlIs the total lift, τ, of the aircraftΨIs yaw torque, τθIs the pitch torque;
s3, determining that after the 2 diagonal motors are damaged, the mathematical model of the four-rotor aircraft is expressed as follows:
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mtable> <mtr> <mtd> <mrow> <mover> <mi>x</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;upsi;</mi> <mi>x</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>y</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;upsi;</mi> <mi>y</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mover> <mi>&amp;upsi;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>x</mi> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <mrow> <mo>(</mo> <mo>(</mo> <mrow> <mi>c</mi> <mi>&amp;phi;</mi> <mi>s</mi> <mi>&amp;theta;</mi> <mi>c</mi> <mi>&amp;psi;</mi> <mo>+</mo> <mi>s</mi> <mi>&amp;phi;</mi> <mi>s</mi> <mi>&amp;psi;</mi> </mrow> <mo>)</mo> <msub> <mi>F</mi> <mi>l</mi> </msub> <mo>-</mo> <msubsup> <mi>D</mi> <mi>x</mi> <mi>i</mi> </msubsup> <msub> <mi>&amp;upsi;</mi> <mi>x</mi> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mover> <mi>&amp;upsi;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>y</mi> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <mrow> <mo>(</mo> <mo>(</mo> <mrow> <mi>c</mi> <mi>&amp;phi;</mi> <mi>s</mi> <mi>&amp;theta;</mi> <mi>s</mi> <mi>&amp;psi;</mi> <mo>-</mo> <mi>s</mi> <mi>&amp;phi;</mi> <mi>c</mi> <mi>&amp;psi;</mi> </mrow> <mo>)</mo> <msub> <mi>F</mi> <mi>l</mi> </msub> <mo>-</mo> <msubsup> <mi>D</mi> <mi>y</mi> <mi>i</mi> </msubsup> <msub> <mi>&amp;upsi;</mi> <mi>y</mi> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mtd> <mtd> <mrow> <mo>\</mo> <mo>*</mo> <mi>M</mi> <mi>E</mi> <mi>R</mi> <mi>G</mi> <mi>E</mi> <mi>F</mi> <mi>O</mi> <mi>R</mi> <mi>M</mi> <mi>A</mi> <mi>T</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>0.4</mn> <mo>)</mo> </mrow> </mrow>1
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mtable> <mtr> <mtd> <mrow> <mover> <mi>&amp;phi;</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mi>p</mi> <mo>+</mo> <mi>s</mi> <mi>&amp;phi;</mi> <mi>t</mi> <mi>&amp;theta;</mi> <mi>q</mi> <mo>+</mo> <mi>c</mi> <mi>&amp;phi;</mi> <mi>t</mi> <mi>&amp;theta;</mi> <mi>r</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>&amp;theta;</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mi>c</mi> <mi>&amp;phi;</mi> <mi>q</mi> <mo>-</mo> <mi>s</mi> <mi>&amp;phi;</mi> <mi>r</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>&amp;psi;</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mfrac> <mrow> <mi>s</mi> <mi>&amp;phi;</mi> </mrow> <mrow> <mi>c</mi> <mi>&amp;theta;</mi> </mrow> </mfrac> <mi>q</mi> <mo>+</mo> <mfrac> <mrow> <mi>c</mi> <mi>&amp;phi;</mi> </mrow> <mrow> <mi>c</mi> <mi>&amp;theta;</mi> </mrow> </mfrac> <mi>r</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>z</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <msub> <mi>&amp;upsi;</mi> <mi>z</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>p</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>I</mi> <mrow> <mi>x</mi> <mi>x</mi> </mrow> </msub> </mfrac> <mrow> <mo>(</mo> <msub> <mi>&amp;tau;</mi> <mi>&amp;phi;</mi> </msub> <mi>-</mi> <mo>(</mo> <mrow> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>y</mi> <mi>y</mi> </mrow> </msub> </mrow> <mo>)</mo> <mi>q</mi> <mi>r</mi> <mo>-</mo> <msub> <mi>D</mi> <mi>&amp;phi;</mi> </msub> <mi>p</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>q</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>I</mi> <mrow> <mi>y</mi> <mi>y</mi> </mrow> </msub> </mfrac> <mrow> <mo>(</mo> <mo>-</mo> <mo>(</mo> <mrow> <msub> <mi>I</mi> <mrow> <mi>x</mi> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> </mrow> <mo>)</mo> <mi>p</mi> <mi>r</mi> <mo>-</mo> <msub> <mi>D</mi> <mi>&amp;theta;</mi> </msub> <mi>q</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>r</mi> <mo>&amp;CenterDot;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> </mfrac> <mrow> <mo>(</mo> <mo>-</mo> <msub> <mi>&amp;sigma;F</mi> <mi>l</mi> </msub> <mo>-</mo> <msub> <mi>D</mi> <mi>&amp;psi;</mi> </msub> <mi>r</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mover> <mi>&amp;upsi;</mi> <mo>&amp;CenterDot;</mo> </mover> <mi>z</mi> </msub> <mo>=</mo> <mi>g</mi> <mo>+</mo> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <mrow> <mo>(</mo> <mo>-</mo> <mo>(</mo> <mrow> <mi>c</mi> <mi>&amp;phi;</mi> <mi>c</mi> <mi>&amp;theta;</mi> </mrow> <mo>)</mo> <msub> <mi>F</mi> <mi>l</mi> </msub> <mo>-</mo> <msubsup> <mi>D</mi> <mi>z</mi> <mi>i</mi> </msubsup> <msub> <mi>&amp;upsi;</mi> <mi>z</mi> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mtd> <mtd> <mrow> <mo>\</mo> <mo>*</mo> <mi>M</mi> <mi>E</mi> <mi>R</mi> <mi>G</mi> <mi>E</mi> <mi>F</mi> <mi>O</mi> <mi>R</mi> <mi>M</mi> <mi>A</mi> <mi>T</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>0.5</mn> <mo>)</mo> </mrow> </mrow>
s*＝sin*，c*＝cos*，t*＝tan*；
η＝[φ θ ψ]Tthe Euler angle is used for describing the attitude information of the four-rotor aircraft; the Euler angle is called Kaldo angle, and is defined by sequential rotation of z-y-x axes, and is respectively a yaw angle which is rotated around the z axis and is expressed by psi; the rotation around the y axis is a pitch angle and is represented by theta; the rotation around the x axis is a roll angle and is represented by phi;
ξ＝[x y z]Tthe position of the quadrotor aircraft under an inertial coordinate system; upsilon [ ]xυyυz]TThe speed of the quad-rotor aircraft in the inertial coordinate system; i ═ diag (I) for moment of inertiaxx,Iyy,Izz) The mass of the aircraft is denoted by m,
ω＝[p q r]Tthe angular speed of the four-rotor aircraft around the shaft under a body coordinate system;
s4, let the expected attitude be phidThe desired position is xd、ydAnd zd；
The following error system was established:
e1＝φ-φd,
e7＝x-xd,
e9＝y-yd,
e11＝z-zd,
from the above formula, one can obtain:
the position errors in equations (1.7) and (1.8) are recombined as shown below:
<mrow> <mtable> <mtr> <mtd> <mrow> <msub> <mi>e</mi> <mrow> <mi>h</mi> <mn>1</mn> </mrow> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mrow> <mo>(</mo> <msubsup> <mi>e</mi> <mn>7</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>e</mi> <mn>9</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <mo>,</mo> <msub> <mi>e</mi> <mrow> <mi>h</mi> <mn>2</mn> </mrow> </msub> <mo>=</mo> <msub> <mover> <mi>e</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mi>h</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>k</mi> <mrow> <mi>h</mi> <mn>1</mn> </mrow> </msub> <msub> <mi>e</mi> <mrow> <mi>h</mi> <msup> <mn>1</mn> <mo>&amp;prime;</mo> </msup> </mrow> </msub> </mrow> </mtd> <mtd> <mrow> <mo>\</mo> <mo>*</mo> <mi>M</mi> <mi>E</mi> <mi>R</mi> <mi>G</mi> <mi>E</mi> <mi>F</mi> <mi>O</mi> <mi>R</mi> <mi>M</mi> <mi>A</mi> <mi>T</mi> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>0.10</mn> <mo>)</mo> </mrow> </mrow>
thus, can obtain
2. The algorithm for runaway protection control under a diagonal power loss condition in a quad-rotor aircraft according to claim 1, wherein: controlling the target (phi) for a posture and height control system (1.5)d,zd) Obtaining a roll angle and height control type for a second-order differentiable roll angle and height track;
if the control input is
F′input＝(Q′+NQ″)-1(X-M-NP)，\*MERGEFORMAT (0.11)
Tracking error e of roll anglei(i ═ 1,2) and height tracking error ei(i-5, 6) is exponentially stable at zero equilibrium;
wherein:
<mrow> <msup> <mi>Q</mi> <mo>&amp;prime;</mo> </msup> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mi>&amp;sigma;</mi> <mfrac> <mn>1</mn> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> </mfrac> <mfrac> <mrow> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> <mrow> <mi>c</mi> <mi>&amp;theta;</mi> </mrow> </mfrac> <mi>c</mi> <mi>&amp;phi;</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <msup> <mi>Q</mi> <mi>n</mi> </msup> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mfrac> <mn>1</mn> <msub> <mi>I</mi> <mrow> <mi>x</mi> <mi>x</mi> </mrow> </msub> </mfrac> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mrow> <mo>-</mo> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <mi>c</mi> <mi>&amp;phi;</mi> <mi>c</mi> <mi>&amp;theta;</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>N</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
<mrow> <mi>X</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mo>-</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mi>k</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> <msub> <mi>e</mi> <mn>2</mn> </msub> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msubsup> <mi>k</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <msub> <mi>e</mi> <mn>1</mn> </msub> <mo>+</mo> <msub> <mover> <mi>&amp;phi;</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mi>d</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mn>5</mn> </msub> <mo>+</mo> <msub> <mi>k</mi> <mn>6</mn> </msub> <mo>)</mo> </mrow> <msub> <mi>e</mi> <mn>6</mn> </msub> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msubsup> <mi>k</mi> <mn>5</mn> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <msub> <mi>e</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mover> <mi>z</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mi>d</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> <mi>P</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mfrac> <mn>1</mn> <msub> <mi>I</mi> <mrow> <mi>x</mi> <mi>x</mi> </mrow> </msub> </mfrac> <mrow> <mo>(</mo> <mo>-</mo> <mo>(</mo> <mrow> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>y</mi> <mi>y</mi> </mrow> </msub> </mrow> <mo>)</mo> <mi>q</mi> <mi>r</mi> <mo>-</mo> <msub> <mi>D</mi> <mi>&amp;phi;</mi> </msub> <mi>p</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>g</mi> <mo>-</mo> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <msubsup> <mi>D</mi> <mi>z</mi> <mi>i</mi> </msubsup> <msub> <mi>&amp;upsi;</mi> <mi>z</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>,</mo> </mrow>
<mrow> <msub> <mi>M</mi> <mn>2</mn> </msub> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mfrac> <mrow> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> <mrow> <mi>c</mi> <mi>&amp;theta;</mi> </mrow> </mfrac> <mover> <mi>&amp;phi;</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mo>(</mo> <mi>q</mi> <mi>c</mi> <mi>&amp;phi;</mi> <mo>-</mo> <mi>r</mi> <mi>s</mi> <mi>&amp;phi;</mi> <mo>)</mo> </mrow> <mo>+</mo> <mfrac> <mn>1</mn> <mrow> <msup> <mi>c</mi> <mn>2</mn> </msup> <mi>&amp;theta;</mi> </mrow> </mfrac> <mover> <mi>&amp;theta;</mi> <mo>&amp;CenterDot;</mo> </mover> <mrow> <mo>(</mo> <mi>q</mi> <mi>s</mi> <mi>&amp;phi;</mi> <mo>+</mo> <mi>r</mi> <mi>c</mi> <mi>&amp;phi;</mi> <mo>)</mo> </mrow> <mo>-</mo> <mfrac> <mrow> <mi>s</mi> <mi>&amp;theta;</mi> </mrow> <mrow> <mi>c</mi> <mi>&amp;theta;</mi> </mrow> </mfrac> <mrow> <mo>(</mo> <mfrac> <mrow> <mo>(</mo> <msub> <mi>I</mi> <mrow> <mi>x</mi> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> <mo>)</mo> <mi>p</mi> <mi>r</mi> <mo>+</mo> <msub> <mi>D</mi> <mi>&amp;theta;</mi> </msub> <mi>q</mi> </mrow> <msub> <mi>I</mi> <mrow> <mi>y</mi> <mi>y</mi> </mrow> </msub> </mfrac> <mi>s</mi> <mi>&amp;phi;</mi> <mo>+</mo> <mfrac> <msub> <mi>D</mi> <mi>&amp;psi;</mi> </msub> <msub> <mi>I</mi> <mrow> <mi>z</mi> <mi>z</mi> </mrow> </msub> </mfrac> <mi>r</mi> <mi>c</mi> <mi>&amp;phi;</mi> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>.</mo> </mrow>
3. the quad-rotor aircraft diagonal power loss of claim 1The out-of-control protection control algorithm under the state is characterized in that: controlling the target (x) for a horizontal position control system (1.4)d,yd) Obtaining a horizontal position control type for a second-order micro horizontal position track;
if the virtual control input phidGiven as follows:
<mrow> <mtable> <mtr> <mtd> <mrow> <msub> <mi>&amp;phi;</mi> <mi>d</mi> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <mi>&amp;beta;</mi> <msqrt> <mrow> <msubsup> <mi>&amp;alpha;</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>&amp;alpha;</mi> <mn>2</mn> <mn>2</mn> </msubsup> </mrow> </msqrt> </mfrac> <mo>-</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mfrac> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> <msqrt> <mrow> <msubsup> <mi>&amp;alpha;</mi> <mn>1</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msubsup> <mi>&amp;alpha;</mi> <mn>2</mn> <mn>2</mn> </msubsup> </mrow> </msqrt> </mfrac> <mo>,</mo> </mrow> </mtd> <mtd> <mrow> <mo>\</mo> <mo>*</mo> <mi>M</mi> <mi>E</mi> <mi>R</mi> <mi>G</mi> <mi>E</mi> <mi>F</mi> <mi>O</mi> <mi>R</mi> <mi>M</mi> <mi>A</mi> <mi>T</mi> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>0.12</mn> <mo>)</mo> </mrow> </mrow>
wherein
<mrow> <mtable> <mtr> <mtd> <mrow> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <msub> <mi>F</mi> <mi>l</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>e</mi> <mn>7</mn> </msub> <mi>s</mi> <mi>&amp;theta;</mi> <mi>c</mi> <mi>&amp;psi;</mi> <mo>+</mo> <msub> <mi>e</mi> <mn>9</mn> </msub> <mi>s</mi> <mi>&amp;theta;</mi> <mi>s</mi> <mi>&amp;psi;</mi> <mo>)</mo> </mrow> <mo>,</mo> <msub> <mi>&amp;alpha;</mi> <mn>2</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <msub> <mi>F</mi> <mi>l</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>e</mi> <mn>7</mn> </msub> <mi>s</mi> <mi>&amp;psi;</mi> <mo>-</mo> <msub> <mi>e</mi> <mn>9</mn> </msub> <mi>c</mi> <mi>&amp;psi;</mi> <mo>)</mo> </mrow> <mo>,</mo> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>\</mo> <mo>*</mo> <mi>M</mi> <mi>E</mi> <mi>R</mi> <mi>G</mi> <mi>E</mi> <mi>F</mi> <mi>O</mi> <mi>R</mi> <mi>M</mi> <mi>A</mi> <mi>T</mi> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>0.13</mn> <mo>)</mo> </mrow> </mrow>
<mrow> <mtable> <mtr> <mtd> <mrow> <mi>&amp;beta;</mi> <mo>=</mo> <mo>-</mo> <msubsup> <mover> <mi>e</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>7</mn> <mn>2</mn> </msubsup> <mo>-</mo> <msubsup> <mover> <mi>e</mi> <mo>&amp;CenterDot;</mo> </mover> <mn>9</mn> <mn>2</mn> </msubsup> <mo>+</mo> <msub> <mi>e</mi> <mn>7</mn> </msub> <msub> <mover> <mi>x</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mi>d</mi> </msub> <mo>+</mo> <msub> <mi>e</mi> <mn>9</mn> </msub> <mover> <mi>y</mi> <mo>&amp;CenterDot;&amp;CenterDot;</mo> </mover> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <msubsup> <mi>k</mi> <mrow> <mi>h</mi> <mn>1</mn> </mrow> <mn>2</mn> </msubsup> <mo>)</mo> </mrow> <msub> <mi>e</mi> <mrow> <mi>h</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <mrow> <mo>(</mo> <msub> <mi>k</mi> <mrow> <mi>h</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>k</mi> <mrow> <mi>h</mi> <mn>2</mn> </mrow> </msub> <mo>)</mo> </mrow> <msub> <mi>e</mi> <mrow> <mi>h</mi> <mn>2</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>e</mi> <mn>7</mn> </msub> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <msubsup> <mi>D</mi> <mi>x</mi> <mi>i</mi> </msubsup> <msub> <mi>&amp;upsi;</mi> <mi>x</mi> </msub> <mo>+</mo> <msub> <mi>e</mi> <mn>9</mn> </msub> <mfrac> <mn>1</mn> <mi>m</mi> </mfrac> <msubsup> <mi>D</mi> <mi>y</mi> <mi>i</mi> </msubsup> <msub> <mi>&amp;upsi;</mi> <msup> <mi>y</mi> <mo>&amp;prime;</mo> </msup> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>\</mo> <mo>*</mo> <mi>M</mi> <mi>E</mi> <mi>R</mi> <mi>G</mi> <mi>E</mi> <mi>F</mi> <mi>O</mi> <mi>R</mi> <mi>M</mi> <mi>A</mi> <mi>T</mi> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>0.14</mn> <mo>)</mo> </mrow> </mrow>
The horizontal position tracking error eh1,eh2The index stabilizes at zero equilibrium point.
CN201710606622.2A 2017-07-24 2017-07-24 Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state Active CN107256028B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710606622.2A CN107256028B (en) 2017-07-24 2017-07-24 Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710606622.2A CN107256028B (en) 2017-07-24 2017-07-24 Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state

Publications (2)

Publication Number Publication Date
CN107256028A true CN107256028A (en) 2017-10-17
CN107256028B CN107256028B (en) 2020-05-12

Family

ID=60025714

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710606622.2A Active CN107256028B (en) 2017-07-24 2017-07-24 Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state

Country Status (1)

Country Link
CN (1) CN107256028B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108693372A (en) * 2018-04-13 2018-10-23 南京航空航天大学 A kind of course axis angular rate method of estimation of quadrotor
CN108759814A (en) * 2018-04-13 2018-11-06 南京航空航天大学 A kind of quadrotor roll axis angular rate and pitch axis Attitude rate estimator method
CN108827302A (en) * 2018-04-24 2018-11-16 大连理工大学 Multi-rotor aerocraft air navigation aid based on rotor tachometric survey
CN109901606A (en) * 2019-04-11 2019-06-18 大连海事大学 A kind of mixing finite time control method for quadrotor Exact trajectory tracking
CN110271661A (en) * 2019-06-10 2019-09-24 河南华讯方舟航空科技有限公司 Coaxial eight-rotary wing aircraft breaks paddle guard method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103135553A (en) * 2013-01-21 2013-06-05 南京航空航天大学 Four-rotor aircraft fault-tolerant control method
CN104965414A (en) * 2015-06-30 2015-10-07 天津大学 Tolerant control method for partial failure of four-rotor unmanned aerial vehicle actuator
US20160023755A1 (en) * 2014-05-05 2016-01-28 King Fahd University Of Petroleum And Minerals System and method for control of quadrotor air vehicles with tiltable rotors
CN105353615A (en) * 2015-11-10 2016-02-24 南京航空航天大学 Active fault tolerance control method of four-rotor aircraft based on sliding-mode observer
CN106527137A (en) * 2016-11-25 2017-03-22 天津大学 Observer-based quadrotor unmanned aerial vehicle fault-tolerant control method
CN106933104A (en) * 2017-04-21 2017-07-07 苏州工业职业技术学院 A kind of quadrotor attitude based on DIC PID and the mixing control method of position

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103135553A (en) * 2013-01-21 2013-06-05 南京航空航天大学 Four-rotor aircraft fault-tolerant control method
US20160023755A1 (en) * 2014-05-05 2016-01-28 King Fahd University Of Petroleum And Minerals System and method for control of quadrotor air vehicles with tiltable rotors
CN104965414A (en) * 2015-06-30 2015-10-07 天津大学 Tolerant control method for partial failure of four-rotor unmanned aerial vehicle actuator
CN105353615A (en) * 2015-11-10 2016-02-24 南京航空航天大学 Active fault tolerance control method of four-rotor aircraft based on sliding-mode observer
CN106527137A (en) * 2016-11-25 2017-03-22 天津大学 Observer-based quadrotor unmanned aerial vehicle fault-tolerant control method
CN106933104A (en) * 2017-04-21 2017-07-07 苏州工业职业技术学院 A kind of quadrotor attitude based on DIC PID and the mixing control method of position

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
FARID SHARIFI: "Fault Tolerant Control of a Quadrotor UAV using Sliding Mode Control", 《2010 CONFERENCE ON CONTROL AND FAULT TOLERANT SYSTEMS》 *
MARK W. MUELLER: "Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers", 《2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS & AUTOMATION (ICRA)》 *
宫勋: "四旋翼飞行器的容错姿态稳定控制", 《电光与控制》 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108693372A (en) * 2018-04-13 2018-10-23 南京航空航天大学 A kind of course axis angular rate method of estimation of quadrotor
CN108759814A (en) * 2018-04-13 2018-11-06 南京航空航天大学 A kind of quadrotor roll axis angular rate and pitch axis Attitude rate estimator method
CN108759814B (en) * 2018-04-13 2020-07-07 南京航空航天大学 Method for estimating transverse rolling axis angular velocity and pitching axis angular velocity of four-rotor aircraft
CN108693372B (en) * 2018-04-13 2020-07-07 南京航空航天大学 Course axis angular velocity estimation method of four-rotor aircraft
CN108827302A (en) * 2018-04-24 2018-11-16 大连理工大学 Multi-rotor aerocraft air navigation aid based on rotor tachometric survey
CN109901606A (en) * 2019-04-11 2019-06-18 大连海事大学 A kind of mixing finite time control method for quadrotor Exact trajectory tracking
CN110271661A (en) * 2019-06-10 2019-09-24 河南华讯方舟航空科技有限公司 Coaxial eight-rotary wing aircraft breaks paddle guard method

Also Published As

Publication number Publication date
CN107256028B (en) 2020-05-12

Similar Documents

Publication Publication Date Title
CN107256028B (en) Out-of-control protection control algorithm of four-rotor aircraft in diagonal power loss state
Naidoo et al. Development of an UAV for search & rescue applications
CN111766899B (en) Interference observer-based quad-rotor unmanned aerial vehicle cluster anti-interference formation control method
Duc et al. The quadrotor MAV system using PID control
CN109062042B (en) Limited time track tracking control method of rotor craft
CN104765272A (en) Four-rotor aircraft control method based on PID neural network (PIDNN) control
CN106707754A (en) Switching system-based modeling and adaptive control method for cargo handling unmanned gyroplane
CN107976902A (en) A kind of enhanced constant speed Reaching Law sliding-mode control of quadrotor UAV system
CN104571120A (en) Posture nonlinear self-adaptive control method of quad-rotor unmanned helicopter
Matouk et al. Quadrotor position and attitude control via backstepping approach
Hançer et al. Robust hovering control of a quad tilt-wing UAV
Lifeng et al. Trajectory tracking of quadrotor aerial robot using improved dynamic inversion method
CN111338369B (en) Multi-rotor flight control method based on nonlinear inverse compensation
Jiang et al. Control platform design and experiment of a quadrotor
Qingtong et al. Backstepping-based attitude control for a quadrotor UAV using nonlinear disturbance observer
Fang et al. Design and nonlinear control of an indoor quadrotor flying robot
CN107942672B (en) Four-rotor aircraft output limited backstepping control method based on symmetric time invariant obstacle Lyapunov function
CN116954240A (en) Anti-saturation and anti-interference position and posture tracking control method for four-rotor unmanned aerial vehicle
Das et al. An algorithm for landing a quadrotor unmanned aerial vehicle on an oscillating surface
CN108107726A (en) A kind of limited backstepping control method of quadrotor output based on symmetrical time-varying obstacle liapunov function
Qi et al. Trajectory tracking strategy of quadrotor with output delay
Zhong et al. Transition attitude control of a tail-sitter UAV based on active disturbance rejection control architecture
Mahfouz et al. Quadrotor unmanned aerial vehicle controller design and synthesis
Baldini et al. Modeling and control of a telescopic quadrotor using disturbance observer based control
CN109917651A (en) A kind of Spacecraft Attitude Control that symmetrical time-varying output is limited

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB03 Change of inventor or designer information

Inventor after: Wu Yuhu

Inventor after: Hu Kaijian

Inventor after: Sun Ximing

Inventor after: Wang Rui

Inventor after: Wu Zhenyu

Inventor before: Hu Kaijian

Inventor before: Wu Yuhu

Inventor before: Sun Ximing

Inventor before: Wang Rui

Inventor before: Wu Zhenyu

CB03 Change of inventor or designer information
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20220714

Address after: 110000 0306-0133, No. 75-1, Jinfeng street, Shenfu demonstration area, Shenyang, Liaoning Province

Patentee after: Liaoning Lucheng Intelligent Manufacturing Co.,Ltd.

Address before: 116024 No. 2 Ling Road, Ganjingzi District, Liaoning, Dalian

Patentee before: DALIAN University OF TECHNOLOGY

TR01 Transfer of patent right