CN110825122A - Active anti-interference tracking control method for circular track of quad-rotor unmanned aerial vehicle - Google Patents
Active anti-interference tracking control method for circular track of quad-rotor unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110825122A CN110825122A CN201910949039.0A CN201910949039A CN110825122A CN 110825122 A CN110825122 A CN 110825122A CN 201910949039 A CN201910949039 A CN 201910949039A CN 110825122 A CN110825122 A CN 110825122A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- rotor unmanned
- quad
- interference
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000002131 composite material Substances 0.000 claims abstract description 18
- 238000005312 nonlinear dynamic Methods 0.000 claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims abstract description 5
- 230000006641 stabilisation Effects 0.000 claims abstract description 4
- 238000011105 stabilization Methods 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 8
- 238000011217 control strategy Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
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
- G05D1/12—Target-seeking control
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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an active anti-interference tracking control method for a four-rotor unmanned aerial vehicle on a circular track. Establishing a four-rotor unmanned aerial vehicle position system model, and converting the track tracking problem of the four-rotor unmanned aerial vehicle into the stabilization problem of the tracking error of a position ring; introducing virtual control quantity, and establishing a high-order sliding mode disturbance observer of a position subsystem of the quad-rotor unmanned aerial vehicle; establishing a composite nonlinear dynamic inverse controller of the quad-rotor unmanned aerial vehicle, and ensuring that a disturbed quad-rotor unmanned aerial vehicle position system dynamically and gradually tracks a reference track of the disturbed quad-rotor unmanned aerial vehicle; through algebraic conversion, turn into the real controlled variable of four rotor unmanned aerial vehicle with virtual controlled variable. The invention can observe the lumped interference of the system in a limited time and dynamically compensate the lumped interference, so that the quad-rotor unmanned aerial vehicle has better anti-interference performance and robustness.
Description
Technical Field
The invention belongs to the technical field of flight control, and particularly relates to a control method of a quad-rotor unmanned aerial vehicle.
Background
The quad-rotor unmanned aerial vehicle is an unmanned aerial vehicle capable of taking off and landing vertically and hovering in the air, has the advantages of simple structure, convenience in control, strong universality of flight environment, low maintenance cost and the like, is widely applied to the fields of aerial reconnaissance, high-altitude shooting, environmental disaster monitoring, disaster rescue and the like, and has important research significance and application prospect. In the field of control theory research, the control of a quad-rotor unmanned aerial vehicle system is a typical benchmark problem with multiple input and multiple output, obvious nonlinear characteristics and serious state coupling. In addition, the flight process of the quad-rotor unmanned aerial vehicle can be influenced by multisource interference such as unmodeled dynamic external gust interference such as internal pneumatic parameter perturbation and friction and environmental uncertainty factors, so that anti-interference control becomes a key problem which needs to be solved urgently in design of a quad-rotor unmanned aerial vehicle control system.
At present, to the anti-interference control problem of a quad-rotor unmanned aerial vehicle, scholars at home and abroad provide various anti-interference control strategies, including a robust control strategy of passively eliminating interference by relying on system robustness and an active anti-interference control strategy of carrying out real-time observation and feedforward compensation on the interference by relying on an extended state observer. However, the anti-interference performance of the existing robust control strategy is obtained at the cost of sacrificing the nominal performance of the system, and although the active anti-interference control strategy based on the extended state observer can obtain a good control effect, the assumption of interference is too harsh, so that the engineering application of the active anti-interference control strategy is greatly limited. Therefore, it is necessary to provide an active anti-interference control method for a quad-rotor unmanned aerial vehicle, which can handle multiple kinds of interference.
Disclosure of Invention
In order to solve the technical problems mentioned in the background technology, the invention provides an active anti-interference tracking control method for a four-rotor unmanned aerial vehicle along a circular track.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
a four-rotor unmanned aerial vehicle circular track active anti-interference tracking control method comprises the following steps:
(1) establishing a four-rotor unmanned aerial vehicle position system model, and converting the track tracking problem of the four-rotor unmanned aerial vehicle into the stabilization problem of the tracking error of a position ring;
(2) introducing virtual control quantity, and establishing a high-order sliding mode disturbance observer of a position subsystem of the quad-rotor unmanned aerial vehicle;
(3) establishing a composite nonlinear dynamic inverse controller of the quad-rotor unmanned aerial vehicle, and ensuring that a disturbed quad-rotor unmanned aerial vehicle position system dynamically and gradually tracks a reference track of the disturbed quad-rotor unmanned aerial vehicle;
(4) through algebraic conversion, turn into the real controlled variable of four rotor unmanned aerial vehicle with virtual controlled variable.
Further, in step (1), the quad-rotor drone position system model is as follows:
wherein x represents the x axial displacement of the quadrotor unmanned aerial vehicle, y represents the y axial displacement of the quadrotor unmanned aerial vehicle, z represents the z axial displacement of the quadrotor unmanned aerial vehicle, one point above the letter represents the first order differential, and two points above the letter represent the second order differential; the positive x-axis direction is defined as the tangential direction along the local meridian and points to the positive north; the positive y-axis direction is defined as the tangential direction of the local latitude line and points to the east; the positive z-axis direction is defined as being perpendicular to the local horizontal plane and pointing to the direction of the center of the earth; dx,Dy,DzRepresents lumped interference in three axes; phi represents the roll angle of the quad-rotor unmanned aerial vehicle, theta represents the pitch angle of the quad-rotor unmanned aerial vehicle, and psi represents the yaw angle of the quad-rotor unmanned aerial vehicle; m represents the mass of the quad-rotor unmanned aerial vehicle, g represents the acceleration of gravity, UPRepresenting the total lift, k, produced by a quad-rotor dronedRepresents the air damping coefficient;
defining a position tracking error:
ex＝x-xd,ey＝y-yd,ez＝z-zd
wherein e isx,ey,ezFor three axial position tracking errors, xd,yd,zdIs a triaxial track reference signal;
establishing a position loop tracking error subsystem:
the control inputs to the position loop tracking error subsystem are phi, theta, psi, and UP。
Further, in step (2), introducing a three-axis virtual control quantity:
establishing an x-axis high-order sliding mode observer:
v2＝-1.5L1/2|z2-v1|1/2sign(z2-v1)+z3
establishing a y-axis high-order sliding mode observer:
v2＝-1.5L1/2|z2-v1|1/2sign(z2-v1)+z3
establishing a z-axial high-order sliding mode observer:
v2＝-1.5L1/2|z2-v1|1/2sign(z2-v1)+z3
wherein z is1,z2,z3The observer is a high-order sliding mode observer dynamic state;
an estimate representing triaxial lumped interference; l is the gain of the high-order sliding mode observer; sign denotes a sign function.
Further, in step (3), a composite nonlinear dynamic inverse controller is respectively established for three axial directions:
wherein, KXP、KXD、KYP、KYD、KZP、KZDAre controller parameters and are all positive constants.
Further, in step (4), the yaw angle command ψ is givendDirect set to 0, roll angle command phidPitch angle command thetadAnd total lift force instruction UP dAnd solving according to the virtual control quantity, namely:
adopt the beneficial effect that above-mentioned technical scheme brought:
(1) according to the method, the high-order sliding mode interference observer is adopted to estimate the multi-source interference in the position system of the quad-rotor unmanned aerial vehicle, the type of interference suppression of the controller is remarkably expanded, and the interference is accurately estimated in limited time;
(2) the invention fully utilizes the nonlinear characteristic of the system, and counteracts the nominal nonlinearity in a feedback way in the feedback channel, thereby greatly reducing the adjusting pressure of the feedback part based on the error in the controller and obviously reducing the parameter adjusting difficulty of the controller;
(3) according to the invention, multi-source interference estimation information is brought into the design of a nonlinear dynamic inverse controller and is reconstructed into a composite dynamic inverse controller, and the anti-interference performance and robustness of the system are obviously improved by performing dynamic real-time feedforward compensation on multi-source interference;
(4) the method can not only obviously improve the tracking precision in the four-rotor unmanned aerial vehicle control system, but also be popularized and applied to high-precision control of other aircrafts, and has wide application prospect.
Drawings
FIG. 1 is a block diagram of the control strategy of the present invention;
FIG. 2 is a three-dimensional circular trajectory effect diagram of a four-rotor unmanned aerial vehicle tracking space under the action of a traditional reference nonlinear controller and a composite controller of the invention;
FIG. 3 is a three-channel trajectory response curve of a four-rotor unmanned aerial vehicle position under the action of a traditional reference nonlinear controller and a composite controller of the invention;
FIG. 4 is a graph of three-channel trajectory tracking error of a quad-rotor unmanned aerial vehicle in position under the action of a conventional reference nonlinear controller and a composite controller of the invention;
fig. 5 is a graph of a four-rotor drone control input response under the action of a conventional baseline nonlinear controller and a composite controller of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings.
The invention designs a four-rotor unmanned aerial vehicle circular track active anti-interference tracking control method, which comprises the following basic steps as shown in figure 1:
step 1: establishing a four-rotor unmanned aerial vehicle position system model, and converting the track tracking problem of the four-rotor unmanned aerial vehicle into the stabilization problem of the tracking error of a position ring;
step 2: introducing virtual control quantity, and establishing a high-order sliding mode disturbance observer of a position subsystem of the quad-rotor unmanned aerial vehicle;
and step 3: establishing a composite nonlinear dynamic inverse controller of the quad-rotor unmanned aerial vehicle, and ensuring that a disturbed quad-rotor unmanned aerial vehicle position system dynamically and gradually tracks a reference track of the disturbed quad-rotor unmanned aerial vehicle;
and 4, step 4: through algebraic conversion, turn into the real controlled variable of four rotor unmanned aerial vehicle with virtual controlled variable.
In this embodiment, step 1 is implemented by using the following preferred scheme:
in step (1), the four-rotor drone position system model is as follows:
wherein x represents the x axial displacement of the quadrotor unmanned aerial vehicle, y represents the y axial displacement of the quadrotor unmanned aerial vehicle, z represents the z axial displacement of the quadrotor unmanned aerial vehicle, one point above the letter represents the first order differential, and two points above the letter represent the second order differential; the positive x-axis direction is defined as the tangential direction along the local meridian and points to the positive north; the positive y-axis direction is defined as the tangential direction of the local latitude line and points to the east; the positive z-axis direction is defined as being perpendicular to the local horizontal plane and pointing to the direction of the center of the earth; dx,Dy,DzRepresents lumped interference in three axes; phi represents the roll angle of the quad-rotor unmanned aerial vehicle, theta represents the pitch angle of the quad-rotor unmanned aerial vehicle, and psi represents the yaw angle of the quad-rotor unmanned aerial vehicle; m represents the mass of the quad-rotor unmanned aerial vehicle, g represents the acceleration of gravity, UPRepresenting the total lift, k, produced by a quad-rotor dronedRepresenting the air damping coefficient. In this embodiment, m is 0.8, and the air damping coefficient kd＝0.09。
Defining a position tracking error:
ex＝x-xd,ey＝y-yd,ez＝z-zd
wherein e isd,ed,edFor three-axis position tracking error, xd,yd,zdIs a three-axis trajectory reference signal;
establishing a position loop tracking error subsystem:
because the outer loop of the four-rotor unmanned aerial vehicle control system is a position loop, the inner loop is an attitude loop, and the control of the position loop is realized by changing an attitude angle, the control input of the position tracking subsystem is three-axis attitude angles phi, theta, psi and total lift force UP。
In this embodiment, step 2 is implemented by using the following preferred scheme:
a high-order sliding-mode observer is designed for a four-rotor unmanned aerial vehicle position system (1) so as to realize finite time estimation of lumped interference of three position channels.
For the position subsystem model of the quad-rotor unmanned aerial vehicle in the system (1), the controller design is convenient, and the following virtual control quantity is introduced:
establishing an x-axis high-order sliding mode observer:
establishing a y-axis high-order sliding mode observer:
establishing a z-axial high-order sliding mode observer:
wherein z is1,z2,z3The observer is a high-order sliding mode observer dynamic state;
an estimate representing triaxial lumped interference; l is the gain of the high-order sliding mode observer; sign denotes a sign function. In this embodiment, L takes the value 0.1.
In this embodiment, the following preferred scheme is adopted to implement step 3:
designing a nonlinear dynamic inverse controller for a four-rotor unmanned aerial vehicle position loop tracking error system (2), designing a composite nonlinear dynamic inverse controller by combining lumped interference estimation information of a high-order sliding-mode observer, and performing stability analysis on an attitude error system through a Lyapunov function, wherein the design method specifically comprises the following steps:
to four rotor unmanned aerial vehicle position system X axial channel design composite dynamic inverse controller:
to the compound dynamic inverse controller of four rotor unmanned aerial vehicle position system Y axial channel design:
to four rotor unmanned aerial vehicle position system Z axial channel design composite dynamic inverse controller:
wherein KXP、KXD、KYP、KYD、KZP、KZDAre controller parameters and they are all normal numbers. The stability is illustrated by the following analysis:
and substituting the X axial dynamic inverse controller into a position ring tracking error system (2) to obtain:
the interference estimation is ensured by the high-order sliding mode observer (4)
At a finite time TeInternally converging its true value DxSo when T > TeDuring the process, the X axial tracking error closed-loop system is converted into the following dynamic state:
the following Lyapunov function is defined:
in view of equation (10), the Lyapunov function is derived as:
therefore, the closed-loop system (10) gradually converges, namely, the x-axis disturbed error tracking system gradually converges under the action of the composite dynamic inverse controller (7); the same can prove that the composite dynamic inverse controllers (8) and (9) ensure the progressive convergence of the y and z axial tracking errors. Namely, the compound dynamic inverse controllers (7) - (9) ensure that the disturbed quadrotor unmanned plane position system (1) dynamically and gradually tracks the reference track.
And analyzing the virtual control quantity, and converting the virtual control quantity into a real control quantity of the quad-rotor unmanned aerial vehicle through algebraic conversion. Consider that the inner ring of a quad-rotor unmanned aerial vehicle is an attitude ring, and the position control of the quad-rotor unmanned aerial vehicle is realized by changing the attitude angle and the lift force in a coordinated manner.
During actual quad-rotor drone flight, it is always desirable to keep its yaw angle zero, i.e. ψ, for system control purposes d0, the rest of the roll angle command phidPitch angle command thetadAnd total lift force instruction UP dAnd solving according to the virtual control quantity, namely:
in order to verify the excellent anti-interference performance of the invention, the simulation comparison verification of the quadrotor unmanned aerial vehicle is carried out on the algorithm and the traditional nonlinear dynamic inverse algorithm based on MATLAB simulation environment under the condition of fully considering the existence of external interference. The initial value of the simulation process position is set as x (0) being 0, y (0) being 1, and z (0) being 0, and the desired position is set as follows:
the external interference in the simulation process is set as follows:
Dx＝-1.6,Dy＝-1.84,Dx＝-1.6
the Composite Nonlinear Dynamic Inverse Controller (CNDIC) parameters designed by the invention are designed as follows:
KXP＝9,KXD＝6,KYP＝9,KYD＝6,KZP＝9,KZD＝6.
the reference Nonlinear controller (BNDIC) used for comparison of simulations was designed as follows:
ψd＝0
wherein the controller parameters take the following values:
KXP＝9,KXD＝6,KYP＝9,KYD＝6,KZP＝9,KZD＝6.
fig. 2-4 are diagrams of the track tracking effect of the disturbed quad-rotor unmanned aerial vehicle adopting the CNDIC and the BNDIC respectively, and it can be seen that the anti-interference performance of the composite control method provided by the invention is obviously superior to that of the traditional dynamic inverse control method. Fig. 5 shows a control input response curve, which includes four sub-graphs (a), (b), (c), and (d), respectively corresponding to a roll angle, a pitch angle, a yaw angle, and a total lift force, and it can be seen that the control input (attitude angle and total lift force) of the method of the present invention is within a specific limiting range. In conclusion, the four-rotor unmanned aerial vehicle can be guaranteed to have higher track tracking speed and stronger anti-interference performance.
The embodiments are only for illustrating the technical idea of the present invention, and the technical idea of the present invention is not limited thereto, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the scope of the present invention.
Claims (5)
1. A four-rotor unmanned aerial vehicle circular track active anti-interference tracking control method is characterized by comprising the following steps:
(1) establishing a four-rotor unmanned aerial vehicle position system model, and converting the track tracking problem of the four-rotor unmanned aerial vehicle into the stabilization problem of the tracking error of a position ring;
(2) introducing virtual control quantity, and establishing a high-order sliding mode disturbance observer of a position subsystem of the quad-rotor unmanned aerial vehicle;
(3) establishing a composite nonlinear dynamic inverse controller of the quad-rotor unmanned aerial vehicle, and ensuring that a disturbed quad-rotor unmanned aerial vehicle position system dynamically and gradually tracks a reference track of the disturbed quad-rotor unmanned aerial vehicle;
(4) through algebraic conversion, turn into the real controlled variable of four rotor unmanned aerial vehicle with virtual controlled variable.
2. The active anti-jamming tracking control method for the circular track of the quad-rotor unmanned aerial vehicle according to claim 1, wherein in the step (1), the position system model of the quad-rotor unmanned aerial vehicle is as follows:
wherein x represents the x axial displacement of the quadrotor unmanned aerial vehicle, y represents the y axial displacement of the quadrotor unmanned aerial vehicle, z represents the z axial displacement of the quadrotor unmanned aerial vehicle, one point above the letter represents the first order differential, and two points above the letter represent the second order differential; the positive x-axis direction is defined as the tangential direction along the local meridian and points to the positive north; the positive y-axis direction is defined as the tangential direction of the local latitude line and points to the east; the positive z-axis direction is defined as being perpendicular to the local horizontal plane and pointing to the direction of the center of the earth; dx,Dy,DzRepresents lumped interference in three axes; phi represents the roll angle of the quad-rotor unmanned aerial vehicle, theta represents the pitch angle of the quad-rotor unmanned aerial vehicle, and psi represents the yaw angle of the quad-rotor unmanned aerial vehicle; m represents the mass of the quad-rotor unmanned aerial vehicle, g represents the acceleration of gravity, UPRepresenting the total lift, k, produced by a quad-rotor dronedRepresents the air damping coefficient;
defining a position tracking error:
ex＝x-xd,ey＝y-yd,ez＝z-zd
wherein e isd,ed,edFor three-axis position tracking error, xd,yd,zdIs a three-axis trajectory reference signal;
establishing a position loop tracking error subsystem:
the control inputs to the position loop tracking error subsystem are phi, theta, psi, and UP。
3. The active anti-interference tracking control method for the circular track of the quad-rotor unmanned aerial vehicle according to claim 2, wherein in the step (2), three-axis virtual control quantities are introduced:
establishing an x-axis high-order sliding mode observer:
v2＝-1.5L1/2|z2-v1|1/2sign(z2-v1)+z3
establishing a y-axis high-order sliding mode observer:
v2＝-1.5L1/2|z2-v1|1/2sign(z2-v1)+z3
establishing a z-axial high-order sliding mode observer:
v2＝-1.5L1/2|z2-v1|1/2sign(z2-v1)+z3
wherein z is1,z2,z3The observer is a high-order sliding mode observer dynamic state;
an estimate representing triaxial lumped interference; l is the gain of the high-order sliding mode observer; sign denotes a sign function.
4. The active anti-interference tracking control method for the circular track of the quad-rotor unmanned aerial vehicle according to claim 3, wherein in the step (3), composite nonlinear dynamic inverse controllers are respectively established for three axial directions:
wherein, KXP、KXD、KYP、KYD、KZP、KZDAre controller parameters and are all positive constants.
5. The active anti-interference tracking control method for the circular track of the quad-rotor Unmanned Aerial Vehicle (UAV) according to claim 4, wherein in the step (4), the yaw angle command psi is sentdDirect set to 0, roll angle command phidPitch angle command thetadAnd total lift force instruction UP dAnd solving according to the virtual control quantity, namely:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949039.0A CN110825122B (en) | 2019-10-08 | 2019-10-08 | Active anti-interference tracking control method for circular track of quad-rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949039.0A CN110825122B (en) | 2019-10-08 | 2019-10-08 | Active anti-interference tracking control method for circular track of quad-rotor unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110825122A true CN110825122A (en) | 2020-02-21 |
| CN110825122B CN110825122B (en) | 2020-09-15 |
Family
ID=69548706
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910949039.0A Active CN110825122B (en) | 2019-10-08 | 2019-10-08 | Active anti-interference tracking control method for circular track of quad-rotor unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110825122B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111538346A (en) * | 2020-06-17 | 2020-08-14 | 郑州轻工业大学 | Interference observation compensation flight control method of four-rotor helicopter |
| CN111650951A (en) * | 2020-05-22 | 2020-09-11 | 南京航空航天大学 | Full-loop composite dynamic inverse tracking control method for complex track of quad-rotor unmanned aerial vehicle |
| CN112486141A (en) * | 2020-11-26 | 2021-03-12 | 南京信息工程大学 | Unmanned aerial vehicle flight control program modeling and verifying method based on time automaton |
| CN113031636A (en) * | 2021-03-01 | 2021-06-25 | 之江实验室 | Unmanned aerial vehicle control method and device, electronic equipment, unmanned aerial vehicle and storage medium |
| CN113359472A (en) * | 2021-07-02 | 2021-09-07 | 北京理工大学 | Adaptive robust trajectory tracking control method for quad-rotor unmanned aerial vehicle |
| CN114578837A (en) * | 2022-02-18 | 2022-06-03 | 南京航空航天大学 | Active fault-tolerant anti-interference trajectory tracking control method of unmanned helicopter considering actuator faults |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103777641A (en) * | 2014-02-19 | 2014-05-07 | 北京理工大学 | Compound active-disturbances-rejection control method of tracking control over aircraft |
| CN104199286A (en) * | 2014-07-15 | 2014-12-10 | 北京航空航天大学 | Hierarchical dynamic inverse control method for flight vehicle based on sliding mode interference observer |
| CN105676641A (en) * | 2016-01-25 | 2016-06-15 | 南京航空航天大学 | Nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at nonlinear model of quad-rotor unmanned plane |
| CN106325291A (en) * | 2016-10-10 | 2017-01-11 | 上海拓攻机器人有限公司 | Four-rotor aircraft attitude control method and system based on sliding-mode control law and ESO |
| CN108180910A (en) * | 2017-12-26 | 2018-06-19 | 北京航空航天大学 | One kind is based on the uncertain aircraft quick high accuracy method of guidance of aerodynamic parameter |
| KR101858338B1 (en) * | 2016-04-18 | 2018-06-28 | 명지대학교 산학협력단 | Control system and method using sliding mode disturbance observer with controller for separate compensation of disturbance |
| CN108873923A (en) * | 2018-07-11 | 2018-11-23 | 中国人民解放军陆军工程大学 | Method for controlling warship surface emergency takeoff of fixed-wing unmanned aerial vehicle through emergency command |
| CN109062052A (en) * | 2018-08-31 | 2018-12-21 | 湖北工业大学 | Quadrotor drone integral sliding mode control method based on extended state observer |
-
2019
- 2019-10-08 CN CN201910949039.0A patent/CN110825122B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103777641A (en) * | 2014-02-19 | 2014-05-07 | 北京理工大学 | Compound active-disturbances-rejection control method of tracking control over aircraft |
| CN104199286A (en) * | 2014-07-15 | 2014-12-10 | 北京航空航天大学 | Hierarchical dynamic inverse control method for flight vehicle based on sliding mode interference observer |
| CN105676641A (en) * | 2016-01-25 | 2016-06-15 | 南京航空航天大学 | Nonlinear robust controller design method based on back-stepping and sliding mode control technologies and aimed at nonlinear model of quad-rotor unmanned plane |
| KR101858338B1 (en) * | 2016-04-18 | 2018-06-28 | 명지대학교 산학협력단 | Control system and method using sliding mode disturbance observer with controller for separate compensation of disturbance |
| CN106325291A (en) * | 2016-10-10 | 2017-01-11 | 上海拓攻机器人有限公司 | Four-rotor aircraft attitude control method and system based on sliding-mode control law and ESO |
| CN108180910A (en) * | 2017-12-26 | 2018-06-19 | 北京航空航天大学 | One kind is based on the uncertain aircraft quick high accuracy method of guidance of aerodynamic parameter |
| CN108873923A (en) * | 2018-07-11 | 2018-11-23 | 中国人民解放军陆军工程大学 | Method for controlling warship surface emergency takeoff of fixed-wing unmanned aerial vehicle through emergency command |
| CN109062052A (en) * | 2018-08-31 | 2018-12-21 | 湖北工业大学 | Quadrotor drone integral sliding mode control method based on extended state observer |
Non-Patent Citations (5)
| Title |
|---|
| CHEN MEILI 等: "An Improved Nonlinear Dynamic Inversion Method for Altitude and Attitude Control of Nano Quad-Rotors under Persistent Uncertainties", 《TRANSACTIONS OF NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS》 * |
| XUERUIWANG 等: "Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers", 《AEROSPACE SCIENCE AND TECHNOLOGY》 * |
| 刘畅 等: "基于滑模扩张干扰观测器的固定翼无人机动态逆控制", 《电光与控制》 * |
| 吴坤 等: "基于高阶滑模的新型干扰观测器设计", 《弹箭与制导学报》 * |
| 李春涛 等: "基于动态逆的无人机飞行控制律设计", 《兵工自动化》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111650951A (en) * | 2020-05-22 | 2020-09-11 | 南京航空航天大学 | Full-loop composite dynamic inverse tracking control method for complex track of quad-rotor unmanned aerial vehicle |
| CN111650951B (en) * | 2020-05-22 | 2021-09-17 | 南京航空航天大学 | Full-loop composite dynamic inverse tracking control method for complex track of quad-rotor unmanned aerial vehicle |
| CN111538346A (en) * | 2020-06-17 | 2020-08-14 | 郑州轻工业大学 | Interference observation compensation flight control method of four-rotor helicopter |
| CN111538346B (en) * | 2020-06-17 | 2023-02-10 | 郑州轻工业大学 | Interference observation compensation flight control method of four-rotor helicopter |
| CN112486141A (en) * | 2020-11-26 | 2021-03-12 | 南京信息工程大学 | Unmanned aerial vehicle flight control program modeling and verifying method based on time automaton |
| CN113031636A (en) * | 2021-03-01 | 2021-06-25 | 之江实验室 | Unmanned aerial vehicle control method and device, electronic equipment, unmanned aerial vehicle and storage medium |
| CN113031636B (en) * | 2021-03-01 | 2024-02-20 | 之江实验室 | Unmanned aerial vehicle control method, unmanned aerial vehicle control device, electronic equipment, unmanned aerial vehicle and storage medium |
| CN113359472A (en) * | 2021-07-02 | 2021-09-07 | 北京理工大学 | Adaptive robust trajectory tracking control method for quad-rotor unmanned aerial vehicle |
| CN113359472B (en) * | 2021-07-02 | 2024-04-19 | 北京理工大学 | Self-adaptive robust track tracking control method for four-rotor unmanned aerial vehicle |
| CN114578837A (en) * | 2022-02-18 | 2022-06-03 | 南京航空航天大学 | Active fault-tolerant anti-interference trajectory tracking control method of unmanned helicopter considering actuator faults |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110825122B (en) | 2020-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110825122B (en) | Active anti-interference tracking control method for circular track of quad-rotor unmanned aerial vehicle | |
| CN110850887B (en) | Composite dynamic inverse anti-interference attitude control method for quad-rotor unmanned aerial vehicle | |
| CN111766899B (en) | Interference observer-based quad-rotor unmanned aerial vehicle cluster anti-interference formation control method | |
| CN112346470A (en) | Four-rotor attitude control method based on improved active disturbance rejection control | |
| CN109991991B (en) | Robust fault-tolerant tracking method for unmanned helicopter | |
| CN113342025B (en) | Four-rotor unmanned aerial vehicle attitude control method based on linear active disturbance rejection control | |
| CN106325291B (en) | Sliding mode control law and ESO (electronic stability program) based four-rotor aircraft attitude control method and system | |
| CN108181920B (en) | High-precision attitude tracking control method for quad-rotor unmanned aerial vehicle based on given time | |
| CN109283932B (en) | Four-rotor aircraft attitude control method based on integral backstepping sliding mode | |
| CN111650951B (en) | Full-loop composite dynamic inverse tracking control method for complex track of quad-rotor unmanned aerial vehicle | |
| CN105759832A (en) | Four-rotor aircraft sliding mode variable structure control method based on inversion method | |
| CN109460050B (en) | Composite layered anti-interference control method for variant unmanned aerial vehicle | |
| CN108363298A (en) | A kind of quadrotor drone Fast Convergent control method based on quaternion representation | |
| CN107562068A (en) | A kind of dynamic surface output adjustment control method of quadrotor posture | |
| CN109885074B (en) | Finite time convergence attitude control method for quad-rotor unmanned aerial vehicle | |
| CN110673623B (en) | Quad-rotor unmanned aerial vehicle landing method based on dual-ring PD control algorithm control | |
| CN113961010B (en) | Tracking control method for four-rotor plant protection unmanned aerial vehicle | |
| CN115373363A (en) | Constrained unmanned aerial vehicle system sliding mode fault-tolerant control method under actuator fault | |
| CN115202213A (en) | Four-rotor aircraft control method based on active disturbance rejection control | |
| CN117452975A (en) | Security performance cooperative formation control design method for four-rotor unmanned aerial vehicle cluster | |
| CN113156995A (en) | Unmanned helicopter attitude control method under actuator fault | |
| CN110928321B (en) | Robust control method for attitude of quad-rotor unmanned aerial vehicle | |
| CN118068682A (en) | Unmanned aerial vehicle stability augmentation control method and device based on active disturbance rejection control technology | |
| Song et al. | Research on attitude control of quadrotor uav based on active disturbance rejection control | |
| Kumar et al. | Exponential reaching law based robust trajectory tracking for unmanned aerial vehicles |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |