CN108803320B - 基于指数增强型等速趋近律和快速终端滑模面的四旋翼飞行器有限时间控制方法 - Google Patents
基于指数增强型等速趋近律和快速终端滑模面的四旋翼飞行器有限时间控制方法 Download PDFInfo
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- CN108803320B CN108803320B CN201810519725.XA CN201810519725A CN108803320B CN 108803320 B CN108803320 B CN 108803320B CN 201810519725 A CN201810519725 A CN 201810519725A CN 108803320 B CN108803320 B CN 108803320B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/047—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators the criterion being a time optimal performance criterion
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Citations (6)
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CN105242676A (zh) * | 2015-07-15 | 2016-01-13 | 北京理工大学 | 一种有限时间收敛时变滑模姿态控制方法 |
CN106067747A (zh) * | 2016-06-01 | 2016-11-02 | 哈尔滨工业大学 | 一种用于伺服系统控制的滑模扰动观测器的设计方法 |
CN107490966A (zh) * | 2017-08-22 | 2017-12-19 | 浙江工业大学 | 一种基于改进幂次趋近律的飞行器有限时间自适应姿态控制方法 |
WO2017219295A1 (en) * | 2016-06-22 | 2017-12-28 | SZ DJI Technology Co., Ltd. | Systems and methods of aircraft walking systems |
CN107577144A (zh) * | 2017-08-22 | 2018-01-12 | 浙江工业大学 | 一种基于增强型指数趋近律的飞行器有限时间自适应姿态控制方法 |
CN108037662A (zh) * | 2017-12-06 | 2018-05-15 | 浙江工业大学 | 一种基于积分滑模障碍李雅普诺夫函数的四旋翼飞行器输出受限反步控制方法 |
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US9715234B2 (en) * | 2015-11-30 | 2017-07-25 | Metal Industries Research & Development Centre | Multiple rotors aircraft and control method |
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CN105242676A (zh) * | 2015-07-15 | 2016-01-13 | 北京理工大学 | 一种有限时间收敛时变滑模姿态控制方法 |
CN106067747A (zh) * | 2016-06-01 | 2016-11-02 | 哈尔滨工业大学 | 一种用于伺服系统控制的滑模扰动观测器的设计方法 |
WO2017219295A1 (en) * | 2016-06-22 | 2017-12-28 | SZ DJI Technology Co., Ltd. | Systems and methods of aircraft walking systems |
CN107490966A (zh) * | 2017-08-22 | 2017-12-19 | 浙江工业大学 | 一种基于改进幂次趋近律的飞行器有限时间自适应姿态控制方法 |
CN107577144A (zh) * | 2017-08-22 | 2018-01-12 | 浙江工业大学 | 一种基于增强型指数趋近律的飞行器有限时间自适应姿态控制方法 |
CN108037662A (zh) * | 2017-12-06 | 2018-05-15 | 浙江工业大学 | 一种基于积分滑模障碍李雅普诺夫函数的四旋翼飞行器输出受限反步控制方法 |
Non-Patent Citations (2)
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一种新型滑模控制双幂次趋近律;张合新等;《控制与决策》;20131231;第28卷(第2期);第289-293页 * |
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