CN107491083A - A kind of four rotors based on saturation adaptive sliding-mode observer it is autonomous ship's method - Google Patents
A kind of four rotors based on saturation adaptive sliding-mode observer it is autonomous ship's method Download PDFInfo
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- CN107491083A CN107491083A CN201710812253.2A CN201710812253A CN107491083A CN 107491083 A CN107491083 A CN 107491083A CN 201710812253 A CN201710812253 A CN 201710812253A CN 107491083 A CN107491083 A CN 107491083A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
A kind of four rotors based on saturation adaptive sliding-mode observer of the present invention it is autonomous ship's method：First, four rotors and unmanned boat six degrees of freedom model are established, by coordinate transform, establish relative kinematic and Relative dynamic equation between the two；2nd, the outer ring design of relative position controller；3rd, the interior ring design of relative position controller；4th, relative altitude control design case：It is given it is expected relative zero elevation, calculate a control input amount of four rotors so that the difference in height between four rotors and unmanned boat is eliminated；5th, relative altitude control design case：It is given it is expected relative zero attitude, calculate the other three control input amount of four rotors so that the posture difference between four rotors and unmanned boat is eliminated, so as on four rotor stable landings to unmanned boat.Present invention design is simple；Effectively solve actuator saturation problem, suppress the influence of model uncertainty and external interference, ensure system globally uniformly bounded, ensure a small range of the landing point tolerance in permission of four rotors.
Description
Technical field
The present invention provide a kind of four rotors based on saturation adaptive sliding-mode observer it is autonomous ship's method, it provides a kind of exists
In the case of considering Parameter uncertainties, input saturation and unknown disturbances, four rotors it is autonomous the new control method of ship, belong to nothing
Automation of man-machine technical field.
Background technology
In recent years, the control research for four rotors and practical application are more and more.It is compared to traditional straight
Rise machine, four rotors have the advantages that it is workable, can orbit and mechanical structure it is simple.Therefore, it can be used to hold
The tasks such as row searching rescue, supervision exploration and aeroplane photography.In addition, application of four rotors in marine site can provide efficient ocean
Reconnaissance capability.This requires four rotors to have preferable maneuvering capability to complete autonomous the ship on sea.But in practical application
In system, the model parameter of four rotors can not accurately be learnt, and the interference of ocean current and air-flow is time-varying and uncertain.Together
When, it may appear that the problem of actuator saturation, so as to cause performance degradation, lead-lag, produce undersuing even system not
It is stable.Based on factors above, the whole control process of autonomous ship becomes complicated and challenging.At present, for aircraft
The research of landing on a mobile platform, the method mainly applied, which has, coordinates control, parameter optimization algorithm and vision guided navigation etc..These
For method primarily directed to single aircraft, the motion to mobile platform compensates design controller, and it is full not account for input
And the problem of.It is, therefore, desirable to provide performance is more preferable, reliability is higher four rotors it is autonomous ship control method.
The present invention " a kind of four rotors based on saturation adaptive sliding-mode observer autonomous ship's method " using problem above as
Point of penetration, and propose targetedly, solve Parameter uncertainties, input-bound, four rotors under external interference it is autonomous ship
The control theory of problem.By establishing the relative model of four rotors and unmanned boat, the track following problem of four rotors is changed into
The stable problem of relative motion.Wherein, the model of unmanned boat is the model of six degree of freedom, and the interference for wind also establishes specifically
Model, so as to make theory analysis closer to real system.Estimate that indeterminate and the external world are disturbed using adaptive sliding modulo n arithmetic
It is dynamic.Meanwhile introduce influence caused by linear saturation compensation device compensation input saturation.By Liapunov stability analysis and
Analog simulation, it was demonstrated that the controller has higher, and four rotors can be with the motion of high precision tracking unmanned boat, and safety and stability
Complete ship process, ensure system globally uniformly bounded.
The content of the invention
(1) purpose：Autonomous it is an object of the invention to provide a kind of four rotors based on saturation adaptive sliding-mode observer
Ship's method, control engineer can realize the anti-Parameter uncertainties of four rotors in the method, resist while actual parameter is combined
Disturbance, autonomous the ship control of anti-input saturation.
(2) technical scheme：The present invention " a kind of four rotors based on saturation adaptive sliding-mode observer autonomous ship's method ", its
Main contents and step are：Give six degrees of freedom model when four rotors and unmanned boat consideration interference respectively first, then establish
Relative motion model between the two, device design is controlled for the relative model.Due to the close coupling characteristic of four rotors, the party
The controller of method design is made up of two parts：Relative position controller and relative attitude-height controller.When four rotor distances
Unmanned boat farther out when, using relative position controller, four rotors of control speed to fly at directly over unmanned boat from remote.Phase is used afterwards
To posture-height controller, four rotors and unmanned boat is controlled to be dropped to posture on unmanned boat.Two controllers are all by full
Rule design is controlled with adaptive sliding-mode observer algorithm.In relative position controller design, due to the drive lacking of four rotors
Characteristic, using the design method of inner and outer ring.In actual applications, the quantity of state such as the position of four rotors and unmanned boat, posture, speed
Obtained by the airborne sensor measurement such as GPS, and the controlled quentity controlled variable being calculated by this method will be transmitted to the executing agencies such as propeller,
Can be achieved four rotors it is autonomous ship function.
The present invention " a kind of four rotors based on saturation adaptive sliding-mode observer autonomous ship's method ", its specific steps is such as
Under：
Step 1 establishes the six degrees of freedom model of four rotors and unmanned boat respectively, by coordinate transform, establishes between the two
Relative kinematic and Relative dynamic equation.
The outer ring design of step 2 relative position controller：It is given it is expected relative position, design adaptive sliding-mode observer
Rule, calculates a control input amount of four rotors for realizing control targe, while can obtain the expectation appearance of four rotors of inner ring
State.
The interior ring design of step 3 relative position controller：It is adaptive according to the expectation posture of gained in step 2, design
Sliding formwork control ratio, calculate the other three control input amount of four rotors.Wherein, it is expected the derivative of posture by instructing wave filter to obtain
Arrive.
Step 4 relative altitude control design case：It is given it is expected relative zero elevation, calculate a control input of four rotors
Amount so that the difference in height between four rotors and unmanned boat is eliminated.
Step 5 relative altitude control design case：Given it is expected relative zero attitude, the other three control for calculating four rotors is defeated
Enter amount so that the posture difference between four rotors and unmanned boat is eliminated, so as on four rotor stable landings to unmanned boat.
Wherein, it is as follows with Relative dynamic equation to establish process for the relative kinematic described in step 1：
First, the body coordinate system of inertial coodinate system and four rotors and unmanned boat is established, as shown in Figure 1.Tellurian inertial coodinate system is built upon,WithPoint
It is not the body coordinate system of four rotors and unmanned boat, coordinate center is the geometric center point of four rotors and unmanned boat.
The kinematics and kinetics equation of four rotors be
Wherein, ξ1=[x1,y1,z1]TAnd η1=[φ1,θ1,ψ1]TIt is position and orientation vector respectively, V1=[u1,v1,w1]T
And Ω1=[p1,q1,r1]TIt is speed and angular velocity vector, I1It is inertial matrix, F=[0,0, Ftotal]TWith τ=[τx,τy,τz]T
Represent the thrust and torque of motor, Faero, FgravAnd TaeroAerodynamic force, gravity and aerodynamic moment, d are represented respectivelyfAnd dmRepresent outer
Portion's interference volume.
Wherein
The kinematics and kinetics equation of unmanned boat be
Wherein, ξ2=[x2,y2,z2]TAnd η2=[φ2,θ2,ψ2]TIt is position and the orientation vector of unmanned boat respectively, V2=
[u2,v2,w2]TAnd Ω2=[p2,q2,r2]TIt is the speed and angular velocity vector of unmanned boat, Tx, TyAnd TzBe unmanned boat control it is defeated
Enter, ζiWithIt is the kinematic coefficient determined by sea situation,WithRepresent outer
Portion's interference volume.
Therefore, the relative model of four rotors and unmanned boat is
d1And d2It is expressed as
Wherein, ξ=ξ1-ξ2=[x, y, z]TWith η=η1-η2It isRelative position and relative attitude under coordinate system,
WithIt isRelative velocity and relative angular speed under coordinate system,
h(η1) it is matrixLast row,WithIt is that the pneumatic of four rotors rubs
Wipe coefficient matrix.d1And d2It is bounded, its Unknown Bound is expressed asWithΔFtotalIt is control caused by input saturation with Δ τ
System input and the difference of execution device reality output amount, Δ Ftotal=sat (Ftotal0)-Ftotal0, Δ τ=Sat (τ0)-τ0,
Wherein, the outer shroud design method of the relative position controller described in step 2 is as follows：
Give desired relative position ξd, site error is Δ ξ=ξ-ξd.Define sliding-mode surfaceThen design
Following control law：
Adaptive law is
Wherein,
It is ζ, m respectively1, γd1Estimate, L is a linear operator, for any vectorL (a)=
diag{a1,a2.a3, ki(i=1,2, c1,σ,m,d1) and βj(j=σ, m, d1) all it is normal number, κ1＞ 0 is the boundary in boundary layer,
δ1For saturation compensation deviceOutput state amount,For normal number.
It then can obtain expectation roll and the pitch attitude angle of control input and inner ring
Wherein, Π1, Π2And Π3It is h (η respectively1)Ftotal0The first, the second and the three element.ψ1dIt is inner ring setting
Expectation yaw angle.
Wherein, the inner ring design method of the relative position controller described in step 3 is as follows：
It is given it is expected yaw angle, it is expected that roll and pitch attitude are calculated by step 2, then four rotors it is expected posture η1d
=[φ1d,θ1d,ψ1d]T, attitude error is Δ η=η1-η1d, define sliding-mode surfaceDesign following control law
Adaptive law is
Wherein, Im=[Ix,Iy,Iz]T, F2=-L (Ω1),WithBy instructing wave filter to obtain,Filtered for instruction
Ripple device error and d2Unknown Bound after addition,WithIt is ε, I respectivelymWithEstimate, ki(i=4, c3,∈,I,d2)
And βj(j=∈, I, d2) it is normal number, κ2＞ 0 be boundary layer boundary, δ2For saturation compensation deviceOutput shape
State amount,For normal number.As shown in Fig. 2 it is relative position controller design block diagram.
Wherein, the relative altitude control design case method described in step 4 is as follows：
Desirable relatively high degree is zero, defines sliding-mode surface and isThen control law is
Adaptive law is
Wherein, WithIt is respectivelyWithIt is last
A line, n (η1)=cos θ1cosφ1,It is respectivelym1,Estimate, ki(i=5,6, l, n, d3) and βj(j
=l, n, d3) it is normal number, δ3For saturation compensation deviceOutput state amount,For normal number.
Wherein, the relative altitude control design case method described in step 5 is as follows：
It is zero it is expected relative attitude, defines sliding-mode surfaceThen control law is
Adaptive law is
Wherein, It is's
Estimate, ki(i=7,8, a, b, d4) and βj(j=a, b, d4) it is normal number, δ4For saturation compensation device's
Output state amount,For normal number.As shown in figure 3, it is relative altitude-attitude controller design frame chart.
(3) advantage and effect：
The present invention " a kind of four rotors based on saturation adaptive sliding-mode observer autonomous ship's method ", compared with the prior art,
Its advantage is：
1) the track following problem of four rotors is changed into by this method by establishing the relative models of four rotors and unmanned boat
The stable problem of relative motion, design can be simplified；
2) this method can effectively solve the problem that actuator saturation problem, significantly improve because the asymmetric of executing agency satisfies
Adversely affected with problem for caused by the stability of a system and various aspects of performance；
3) this method using adaptive algorithm it is good inhibit the interference of model uncertainty and external disturbance to system
Influence；
4) this method can ensure the globally uniformly bounded of system, and ensure the landing point tolerance of four rotors in the small of permission
In the range of.
Brief description of the drawings
Fig. 1 is coordinate system schematic diagram of the present invention.
Fig. 2 is relative position controller design block diagram of the present invention.
Fig. 3 is relative altitude of the present invention-attitude controller design frame chart.
Symbol description is as follows：
ξ1 ξ1=[x1,y1,z1]TFor current location of four rotors under inertial coodinate system；
ξ2 ξ2=[x2,y2,z2]TFor current location of the unmanned boat under inertial coodinate system；
ξ ξ=ξ1-ξ2=[x, y, z]TFor the relative position of four rotors and unmanned boat under inertial coodinate system；
η1 η1=[φ1,θ1,ψ1]TFor current pose of four rotors under inertial coodinate system；
η2 η2=[φ2,θ2,ψ2]TFor current pose of the unmanned boat under inertial coodinate system；
η η=η1-η2For the relative attitude of four rotors and unmanned boat under inertial coodinate system；
V1 V1=[u1,v1,w1]TFor speed of four rotors under its body coordinate system；
V2 V2=[u2,v2,w2]TFor speed of the unmanned boat under its body coordinate system；
V For the relative velocity of four rotors and unmanned boat under four rotor body coordinate systems；
The known speed part after control input amount is given for unmanned boat；
Ω1 Ω1=[p1,q1,r1]TFor angular speed of four rotors under its body coordinate system；
Ω2 For angular speed of the unmanned boat under its body coordinate system；
Ω For the relative angular speed of four rotors and unmanned boat under four rotor body coordinate systems；
The known angular speed part after control input amount is given for unmanned boat；
Position transition matrix of the four rotor body coordinate systems to inertial coodinate system；
Position transition matrix of the unmanned hull coordinate system to inertial coodinate system；
Pose transformation matrix of the four rotor body coordinate systems to inertial coodinate system；
Pose transformation matrix of the unmanned hull coordinate system to inertial coodinate system；
Position transition matrix of the unmanned hull coordinate system to four rotor body coordinate systems；
Pose transformation matrix of the unmanned hull coordinate system to four rotor body coordinate systems；
h(η1) Last row；
n(η1) h(η1) last element；
m1Four rotor quality；
G g=[0,0,9.82] it is used to the acceleration of gravity vector under m/ s coordinate systems；
I1Four rotor inertial matrix；
F, the thrust and torque of the rotor motors of τ tetra-；
Faero、FgravFour rotor aerodynamic force, gravity；
TaeroFour rotor aerodynamic moments；
df、dmFour rotor external disturbance amounts；
Tx、Ty、TzThe control input of unmanned boat；
dt、dsThe external disturbance amount of unmanned boat；
d1、d2The distracter of external disturbance and margin of error composition；
Kt、KrThe Pneumatic friction coefficient matrix of four rotors；
d1And d2Unknown boundary value；
Instruct filter error and d2Unknown boundary value after addition；
ξdIt is expected the relative position of four rotors and unmanned boat
Δ ξ Δ ξ=ξ-ξdThe relative position error；
η1dFour rotors it is expected posture；
Δ η Δs η=η1-η1dThe attitude error of four rotors；
s1、s2Sliding-mode surface；
s3、s4Sliding-mode surface；
Ftotal0、τ0Four rotor control inputs；
ΔFtotal, Δ τ input saturation caused by the difference of control input and execution device reality output amount,
κ1、κ2The boundary in boundary layer；
κ3、κ4The boundary in boundary layer；
L linear operators；
δ1、δ2The quantity of state of saturation compensation device；
δ3、δ4The quantity of state of saturation compensation device；
ki(i=1-8, c1-8,d1-4) controller constant gain；
ki(i=σ, m, l, n, a, b, ∈, I) controller constant gain；
βi(i=σ, m, l, n, a, b, ∈, I) controller constant gain；
Embodiment
The each several part design method in the present invention is further described below：
The present invention " a kind of four rotors based on saturation adaptive sliding-mode observer autonomous ship's method ", its specific steps is such as
Under：
Step 1：Kinematics and dynamics model is established
By four rotors and the six degrees of freedom model of unmanned boat, by converting, relative kinematic and relative power are established
Learn model.
d1And d2It is expressed as
Wherein, ξ=ξ1-ξ2=[x, y, z]TWith η=η1-η2It isRelative position and relative attitude under coordinate system,
WithIt isRelative velocity and relative angular speed under coordinate system,
h(η1) it is matrixLast row,WithIt is that the pneumatic of four rotors rubs
Wipe coefficient matrix.d1And d2It is bounded, its Unknown Bound is expressed asWithΔFtotalIt is control caused by input saturation with Δ τ
System input and the difference of execution device reality output amount, Δ Ftotal=sat (Ftotal0)-Ftotal0, Δ τ=Sat (τ0)-τ0,
Step 2：The outer ring design of relative position controller
First, according to the thought of sliding formwork control, sliding-mode surface is definedThen isolated by conversion not true
Determine item, design controller and adaptive law, the boundary of indeterminate and disturbance term is estimated, while pass through linear saturation compensation
Device caused by input saturation on influenceing to compensate.Control law and adaptive law are
Wherein,
It is ζ, m respectively1,Estimate, L is a linear operator, for any vectorL (a)=diag
{a1,a2.a3, ki(i=1,2, c1,σ,m,d1) and βj(j=σ, m, d1) all it is normal number, κ1＞ 0 be boundary layer boundary, δ1For
Saturation compensation deviceOutput state amount,For normal number.
Then can obtain control input is
The roll and pitch attitude angle that corresponding inner ring need to track be
Wherein, Π1, Π2And Π3It is h (η respectively1)Ftotal0The first, the second and the three element.ψ1dIt is inner ring setting
Expectation yaw angle.Step 3：The interior ring design of relative position controller
It is given it is expected yaw angle ψ1d, it is expected that roll and pitch attitude are calculated by above-mentioned, four rotors it is expected posture η1d=
[φ1d,θ1d,ψ1d]T, attitude error is Δ η=η1-η1d, define sliding-mode surfaceControl law and adaptive law are
Wherein, Im=[Ix,Iy,Iz]T, F2=-L (Ω1), to avoid numerous and diverse calculating,WithBy instructing wave filter
Filtering obtains,For instruction filter error and d2Unknown Bound after addition,WithIt is ε, I respectivelymWithEstimate
Evaluation, ki(i=4, c3,∈,I,d2) and βj(j=∈, I, d2) it is normal number, κ2＞ 0 be boundary layer boundary, δ2For saturation compensation
DeviceOutput state amount,For normal number.
Step 4：Relative altitude control design case
In relative altitude-attitude controller design, only consider that it is zero to control relative altitude and relative attitude, completes four rotations
The wing ship.And with respect to plan-position not in the range of control design case, therefore the response of controller should The faster the better.
Controlled for relative altitude, defining sliding-mode surface first isThen control law and adaptive law are
Wherein, WithIt is respectivelyWithIt is last
A line, n (η1)=cos θ1cosφ1,It is respectivelym1,Estimate, ki(i=5,6, l, n, d3) and βj(j
=l, n, d3) it is normal number, δ3For saturation compensation deviceOutput state amount,For normal number.
Step 5：Relative altitude control design case
Define sliding-mode surfaceThen control law and adaptive law are
Wherein, It is's
Estimate, ki(i=7,8, a, b, d4) and βj(j=a, b, d4) it is normal number, δ4For saturation compensation deviceIt is defeated
The amount of doing well,For normal number.
Claims (6)
1. a kind of four rotors based on saturation adaptive sliding-mode observer it is autonomous ship's method, it is characterised in that：This method specifically walks
It is rapid as follows：
Step 1 establishes the six degrees of freedom model of four rotors and unmanned boat respectively, by coordinate transform, establishes between the two relative
Kinematics and Relative dynamic equation；
The outer ring design of step 2 relative position controller：It is given it is expected relative position, design adaptive sliding-mode observer rule, calculate
A control input amount of four rotors of control targe is realized, while the expectation posture of four rotors of inner ring can be obtained；
The interior ring design of step 3 relative position controller：According to the expectation posture of gained in step 2, adaptive sliding mode is designed
Control law, calculate the other three control input amount of four rotors；Wherein, it is expected the derivative of posture by instructing wave filter to obtain；
Step 4 relative altitude control design case：It is given it is expected relative zero elevation, calculate a control input amount of four rotors so that
Difference in height between four rotors and unmanned boat is eliminated；
Step 5 relative altitude control design case：It is given it is expected relative zero attitude, the other three control input amount of four rotors is calculated,
So that the posture difference between four rotors and unmanned boat is eliminated, so as on four rotor stable landings to unmanned boat.
2. a kind of four rotors based on saturation adaptive sliding-mode observer according to claim 1 it is autonomous ship's method, it is special
Sign is：The foundation of relative kinematic and Relative dynamic equation described in step 1, its step are as follows：
First, the body coordinate system of inertial coodinate system and four rotors and unmanned boat is established,It is built upon ground
Inertial coodinate system on ball,WithIt is the body seat of four rotors and unmanned boat respectively
Mark system, coordinate center is the geometric center point of four rotors and unmanned boat；
The kinematics and kinetics equation of four rotors be
Wherein, ξ1=[x1,y1,z1]TAnd η1=[φ1,θ1,ψ1]TIt is position and orientation vector respectively, V1=[u1,v1,w1]TAnd Ω1
=[p1,q1,r1]TIt is speed and angular velocity vector, I1It is inertial matrix, F=[0,0, Ftotal]TWith η=[τx,τy,τz]TRepresent
The thrust and torque of motor, Faero, FgravAnd TaeroAerodynamic force, gravity and aerodynamic moment, d are represented respectivelyfAnd dmRepresent outside dry
The amount of disturbing；
Wherein
The kinematics and kinetics equation of unmanned boat be
Wherein, ξ2=[x2,y2,z2]TAnd η2=[φ2,θ2,ψ2]TIt is position and the orientation vector of unmanned boat respectively, V2=[u2,v2,
w2]TAnd Ω2=[p2,q2,r2]TIt is the speed and angular velocity vector of unmanned boat, Tx, TyAnd TzIt is the control input of unmanned boat, ζiWith(i=1,2,3) is the kinematic coefficient determined by sea situation,WithRepresent external disturbance
Amount；
Therefore, the relative model of four rotors and unmanned boat is
d1And d2It is expressed as
Wherein, ξ=ξ1-ξ2=[x, y, z]TWith η=η1-η2It isRelative position and relative attitude under coordinate system,
WithIt isRelative velocity and relative angular speed under coordinate system,h(η1)
It is matrixLast row,WithIt is the Pneumatic friction coefficient of four rotors
Matrix；d1And d2It is bounded, its Unknown Bound is expressed asWithΔFtotalIt is control input caused by input saturation with Δ η
With the difference of execution device reality output amount, Δ Ftotal=sat (Ftotal0)-Ftotal0, Δ η=Sat (η0)-η0,
3. a kind of four rotors based on saturation adaptive sliding-mode observer according to claim 1 it is autonomous ship's method, it is special
Sign is：The outer ring design of relative position controller described in step 2, its design procedure are as follows：
Give desired relative position ξd, site error is Δ ξ=ξ-ξd；Define sliding-mode surfaceThen design as follows
Control law：
Adaptive law is
Wherein, It is ζ, m respectively1,'s
Estimate, L is a linear operator, for any vectorL (a)=diag { a1,a2.a3, ki(i
=1,2, c1,σ,m,d1) and βj(j=σ, m, d1) all it is normal number, κ1＞ 0 be boundary layer boundary, δ1For saturation compensation deviceOutput state amount,For normal number；
It then can obtain expectation roll and the pitch attitude angle of control input and inner ring
Wherein, Π1, Π2And Π3It is h (η respectively1)Ftotal0The first, the second and the three element；ψ1dIt is the phase of inner ring setting
Hope yaw angle.
4. a kind of four rotors based on saturation adaptive sliding-mode observer according to claim 1 it is autonomous ship's method, it is special
Sign is：The interior ring design of the relative position controller described in step 3, its design procedure are as follows：
It is given it is expected yaw angle, it is expected that roll and pitch attitude are calculated by step 2, then four rotors it is expected posture η1d=
[φ1d,θ1d,ψ1d]T, attitude error is Δ η=η1-η1d, define sliding-mode surfaceDesign following control law
Adaptive law is
Wherein, Im=[Ix,Iy,Iz]T, F2=-L (Ω1),WithBy instructing wave filter to obtain,Filtered for instruction
Ripple device error and d2Unknown Bound after addition,WithIt is ε, I respectivelymWithEstimate, ki(i=4, c3,∈,I,
d2) and βj(j=∈, I, d2) it is normal number, κ2＞ 0 be boundary layer boundary, δ2For saturation compensation deviceIt is defeated
The amount of doing well,For normal number.
5. a kind of four rotors based on saturation adaptive sliding-mode observer according to claim 1 it is autonomous ship's method, it is special
Sign is：The interior ring design of relative position controller described in step 4, it is comprised the following steps that：
Desirable relatively high degree is zero, defines sliding-mode surface and isThen control law is
Adaptive law is
Wherein, WithIt is respectivelyWithLast column,
n(η1)=cos θ1cosφ1,It is respectivelym1,Estimate,And βj(j=l,
n,d3) it is normal number, δ3For saturation compensation deviceOutput state amount,For normal number.
6. a kind of four rotors based on saturation adaptive sliding-mode observer according to claim 1 it is autonomous ship's method, it is special
Sign is：Relative altitude control design case described in step 5, it is comprised the following steps that：
It is zero it is expected relative attitude, defines sliding-mode surfaceThen control law is
Adaptive law is
Wherein, It isEstimation
Value, ki(i=7,8, a, b, d4) and βj(j=a, b, d4) it is normal number, δ4For saturation compensation deviceOutput
Quantity of state,For normal number.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109100939A (en) * | 2018-09-19 | 2018-12-28 | 哈尔滨工程大学 | Consider the unmanned surface vehicle total state constrained trajectory tracking and controlling method of input saturation |
| CN109884895A (en) * | 2019-03-11 | 2019-06-14 | 南京邮电大学 | Based on the unmanned plane adaptive Gaussian filtering algorithm under saturation limited situation |
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| CN109884895A (en) * | 2019-03-11 | 2019-06-14 | 南京邮电大学 | Based on the unmanned plane adaptive Gaussian filtering algorithm under saturation limited situation |
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| CN109901605B (en) * | 2019-04-11 | 2021-11-16 | 大连海事大学 | Control method for tracking unmanned surface vessel by four-rotor aircraft |
| CN112198885A (en) * | 2019-12-31 | 2021-01-08 | 北京理工大学 | Unmanned aerial vehicle control method capable of meeting autonomous landing requirement of maneuvering platform |
| CN111650954A (en) * | 2020-06-16 | 2020-09-11 | 天津大学 | Four-rotor unmanned aerial vehicle ground effect compensation landing control method based on deep learning |
| CN111650954B (en) * | 2020-06-16 | 2022-07-12 | 天津大学 | Four-rotor unmanned aerial vehicle ground effect compensation landing control method based on deep learning |
| CN112231832A (en) * | 2020-10-14 | 2021-01-15 | 中国船舶重工集团公司第七0四研究所 | Optimized design method of side-push cover sealing system matched with ship body |
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