CN114879728B - Aircraft robust formation control method based on active disturbance rejection control - Google Patents
Aircraft robust formation control method based on active disturbance rejection control Download PDFInfo
- Publication number
- CN114879728B CN114879728B CN202210531221.6A CN202210531221A CN114879728B CN 114879728 B CN114879728 B CN 114879728B CN 202210531221 A CN202210531221 A CN 202210531221A CN 114879728 B CN114879728 B CN 114879728B
- Authority
- CN
- China
- Prior art keywords
- aircraft
- control
- formula
- speed
- trajectory
- 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.)
- Active
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000004088 simulation Methods 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 2
- 206010044565 Tremor Diseases 0.000 claims description 2
- 238000012938 design process Methods 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 238000003786 synthesis reaction Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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)
- Feedback Control In General (AREA)
Abstract
An active disturbance rejection control-based robust formation control method for aircrafts belongs to the technical field of aircraft control. The method comprises the following steps: constructing an aircraft cluster formation control model; designing an aircraft position cooperative active disturbance rejection controller; and designing an aircraft speed tracking controller. The invention provides a strong-robustness and high-adaptivity aircraft formation control method based on an active disturbance rejection control theory and a leading formation control framework, which can enable an aircraft cluster to meet formation control precision under a strong-disturbance and high-uncertainty environment, effectively weakens the influence of external disturbance and model uncertainty on formation control effect, improves the robustness of a controller, and effectively improves the environment adaptability of an unmanned aerial vehicle formation controller.
Description
Technical Field
The invention relates to an active disturbance rejection control-based robust formation control method for aircrafts, and belongs to the technical field of aircraft control.
Background
The problems of high model uncertainty, complex interference and the like are faced to the problem of aircraft formation control, and the traditional formation control method is based on simplified model design and does not consider the problem of external interference compensation, so that the robustness and the environmental adaptability are poor, the requirements of practical engineering application cannot be met, and a new aircraft formation control method is urgently needed to be developed.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides an aircraft robust formation control method based on active disturbance rejection control.
The invention adopts the following technical scheme: an active disturbance rejection control-based robust formation control method for aircrafts, comprising the following steps:
s1: constructing an aircraft cluster formation control model;
s2: designing an aircraft position cooperative active disturbance rejection controller;
s3: and designing an aircraft speed tracking controller.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a strong-robustness and high-adaptivity aircraft formation control method based on an active disturbance rejection control theory and a leading formation control framework, which can enable an aircraft cluster to meet formation control precision under a strong-disturbance and high-uncertainty environment, effectively weakens the influence of external disturbance and model uncertainty on formation control effect, improves the robustness of a controller, and effectively improves the environment adaptability of an unmanned aerial vehicle formation controller.
Drawings
FIG. 1 is a design flow diagram of the present invention;
FIG. 2 is a block diagram of the location-coordinated active-disturbance-rejection control architecture of the present invention;
FIG. 3 is a schematic diagram of the relationship between the relative coordinate system and the inertial coordinate system according to the present invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying 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 invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
An active disturbance rejection control-based robust formation control method for aircrafts, comprising the following steps:
s1: constructing an aircraft cluster formation control model;
s101: defining a coordinate system; studying the relative motion of the aircraft, the following coordinate systems need to be defined;
emission inertial coordinate system o I -x I y I z I : the origin of the coordinate system is located at the emission point, o I x I The axis is pointing in the direction of the initial target,o I y I with the axis vertically upwards o I z I The shaft and the other two shafts form a right-hand system;
ballistic coordinate system o 2 -x 2 y 2 z 2 : the origin of the coordinate system is located at the center of mass, o, of the missile 2 x 2 The axis pointing in the direction of the missile speed, o 2 y 2 Perpendicular to o in the vertical plane 2 x 2 Upwards, o 2 z 2 The shaft and the other two shafts form a right-hand system;
s102: describing the relative position relationship of the leading aircraft and the trailing aircraft;
in order to describe the position relationship of the leading aircraft and the following aircraft, the ballistic coordinate system of the leading aircraft is taken as a relative coordinate system, and the relationship between the relative coordinate system and a launching inertia coordinate system is shown in FIG. 2; because the relative coordinate system is a motion system, the leading aircraft and the trailing aircraft have the following motion relationship in the relative coordinate system:
V fr -V lr ＝V r +ω×r (1)
in formula (1):
V fr the speed of the slave aircraft under a relative coordinate system;
V lr the speed of the aircraft is guided under a relative coordinate system;
V r the relative speed of the slave aircraft and the lead aircraft under a relative coordinate system;
omega is the description of the rotation angular velocity of the relative coordinate system relative to the inertia space in the relative coordinate system;
r is a relative position vector between the slave aircraft and the leading aircraft under a relative coordinate system;
thus, it is possible to obtain:
V r ＝(V fr -V lr )-ω×r (2)
the relative motion equation of the aircraft and the slave aircraft in the three-dimensional space is developed as follows:
in formula (3):
x is a coordinate corresponding to an x axis in a three-dimensional space;
y is a y-axis corresponding coordinate in the three-dimensional space;
z is a coordinate corresponding to a z axis in a three-dimensional space;
V f is the slave aircraft speed;
V l leading the speed of the aircraft;
θ f is the angle of inclination from the aircraft trajectory;
θ l the inclination angle of the trajectory of the lead aircraft is determined;
ψ e the difference between the deviation angle of the aircraft trajectory and the deviation angle of the aircraft trajectory;
ψ vf is the deviation angle from the aircraft trajectory;
ψ vl the trajectory deflection angle of the lead aircraft;
s103: carrying out small-disturbance linearization processing;
while the formation of the aircraft remains in flight, the angle of inclination θ from the trajectory of the aircraft is considered f Collar aircraft trajectory inclination angle theta l And the difference phi between the deviation angle of the leading aircraft trajectory and the deviation angle of the trailing aircraft trajectory e All are small quantities, and small-disturbance linearization processing is carried out on the small quantities to obtain the following results:
in formula (4):
V fb 、θ fb 、ψ vfb all are state equilibrium points taken by linearization;
s104: modeling a formation control system;
equation (4) is described as a state space form, with:
in formula (5):
X＝[x,y,z] T controlling the form of the system for formationA state variable;
U＝[V fc ,θ fc ,ψ vfc ] T a control variable for controlling the system for formation, wherein: v fc A desired speed for the aircraft; theta fc A desired ballistic inclination for the aircraft; psi vfc A desired ballistic declination for the aircraft;
W＝V l is a disturbance variable;
y is an output variable;
a is a system matrix, B 1 To control the matrix, B 2 C is an output matrix, and the value of the output matrix is shown as the following formula:
deforming the model to obtain:
in formula (7):
D＝B 2 w represents the total system disturbance;
and constructing the multi-aircraft cooperative control model.
S2: designing an aircraft position cooperative active disturbance rejection controller;
the aircraft position coordinated auto-disturbance rejection controller comprises a Tracking Differentiator (Tracking Differentiator), an Extended State Observer (Extended State Observer) and a Nonlinear State Error Feedback control Law (Nonlinear State Error Feedback Law). In the figure, the extended state observer observes and compensates the total disturbance quantity and the equivalent control quantity
Then feedback by non-linear state errorThe law and the extended state observer are jointly formed.
S201: designing a tracking differentiator;
in order to avoid high-frequency trembling, a second-order steepest discrete tracking differentiator is derived by using a steepest control comprehensive function of a second-order pure integrator series discrete system, and the obtained three-channel tracking differentiators are all in the following forms:
in formula (8):
fhan is a function symbol;
fh is the output value of the fhan function;
k is the kth step of discrete simulation;
v 1 a transition process that is a control target;
v 2 controlling the speed of the target transition process;
v 3 controlling the acceleration of the target transition process;
h is a simulation step length;
v 0 for controlling the target, the expected relative position v of x, y and z directions is shown 0x 、v 0y 、v 0z ；
r 0 Is a fast factor of normality;
h 0 is a filtering factor;
steepest control synthesis function fhan (x) 1 ,x 2 ,x 3 R, h) are:
in formula (9):
d、a、a 0 、a 1 、a 2 y is a process variable in the function calculation process and has no actual physical meaning;
s202: designing an extended state observer;
and respectively establishing a second-order extended state observer in the following form for the three-direction channel:
in formula (10):
e ESO is the observed error of the system output variable;
z 1 is an observed value of a system output variable;
z 2 is an observed value of the rate of change of the system output variable;
β 01 、β 02 is the extended state observer gain parameter;
u is a control variable of the formation control system;
h is a simulation step length;
s203: controlling a nonlinear state error feedback control law;
defining an error signal e as
In formula (11):
x, y and z are three-axis coordinates of the aircraft;
x c 、y c 、z c is a desired position of the aircraft;
the nonlinear feedback compensation control law of the formation controller is designed as follows:
in formula (12):
alpha is a power term coefficient;
δ is the interval half-length of the linear segment;
substituting the error signal equation (11) and the control law equation (12) into the state space expression (5) can obtain
As can be seen from equation (13), the error signal e converges to 0 within a limited time, proving the feasibility of the designed control law;
and finishing the design process of the aircraft position cooperative active disturbance rejection controller.
S3: and designing an aircraft speed tracking controller.
S301: designing a speed tracking controller;
setting up
The state variable of the speed tracking controller is X 1 ＝[V f θ f ψ vf ] T ；
The control variable of the velocity tracking controller is
The state space model is established as follows:
wherein:
let the speed control error e 1 Is composed of
In formula (16):
V fc a desired speed for the aircraft;
θ fc anticipating a ballistic dip for the aircraft;
ψ vfc anticipating a ballistic declination for the aircraft;
similar to the position cooperative control, the control law of the velocity tracking controller is designed to
Substituting the formula (17) into the formula (14) to obtain
The speed error can be seen to be converged, which shows that the speed error is converged to 0, and the designed control law has feasibility;
s302: converting an aircraft control command;
for aircraft, the control commands are derived from aircraft speed
From aircraft ballistic inclination
And deviation from aircraft trajectory angle
The control commands cannot be directly linked with the control variables such as the angle of attack, the roll angle or the direct force, and therefore the control commands are converted into overload forms under the trajectory system of the aircraft:
in formula (19):
n cx is overloaded in the x-direction under the ballistic system;
n cy is ballistic y-direction overload;
n cz is ballistic overload in the z-direction;
g is the acceleration of gravity;
the aircraft reversely calculates the required attack angle and the required roll angle according to the pneumatic data or the on-off time and the thrust direction of the direct force engine, so that the tracking of the expected speed can be realized, and further the position cooperative control is realized.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (2)
1. An aircraft robust formation control method based on active disturbance rejection control is characterized in that: the method comprises the following steps:
s1: constructing an aircraft cluster formation control model;
s101: defining a coordinate system;
s102: describing the relative position relationship of the aircraft and the slave aircraft;
taking the trajectory coordinate system of the leading aircraft as a relative coordinate system, because the relative coordinate system is a motion system, the leading aircraft and the following aircraft have the following motion relationship in the relative coordinate system:
V fr -V lr ＝V r +ω×r (1)
in formula (1):
V fr the speed of the slave aircraft under a relative coordinate system;
V lr the speed of the aircraft is taken as the relative coordinate system;
V r the relative speed of the slave aircraft and the lead aircraft under a relative coordinate system;
omega is the description of the rotation angular velocity of the relative coordinate system relative to the inertia space in the relative coordinate system;
r is a relative position vector between the slave aircraft and the leading aircraft under a relative coordinate system;
thus, it is possible to obtain:
V r ＝(V fr -V lr )-ω×r (2)
the relative motion equation of the aircraft and the slave aircraft in the three-dimensional space is developed as follows:
in formula (3):
x is the coordinate corresponding to the x axis in the three-dimensional space;
y is a y-axis corresponding coordinate in a three-dimensional space;
z is a coordinate corresponding to a z axis in a three-dimensional space;
V f is the slave aircraft speed;
V l leading the speed of the aircraft;
θ f is the angle of inclination from the aircraft trajectory;
θ l the inclination angle of the trajectory of the lead aircraft;
ψ e the difference between the deviation angle of the aircraft trajectory and the deviation angle of the aircraft trajectory;
ψ vf is the deviation angle from the aircraft trajectory;
ψ vl the trajectory deflection angle of the lead aircraft;
s103: carrying out small-disturbance linearization processing;
in the process of keeping the formation of the aircraft in flight, the inclination angle theta of the aircraft trajectory is considered to be f Collar aircraft trajectory inclination angle theta l And the difference phi between the deviation angle of the leading aircraft trajectory and the deviation angle of the trailing aircraft trajectory e All the components are small in quantity, and small-disturbance linearization processing is carried out on the components to obtain the following components:
in formula (4):
V fb 、θ fb 、ψ vfb all are state equilibrium points taken by linearization;
s104: modeling a formation control system;
equation (4) is described as a state space form, with:
in formula (5):
X＝[x,y,z] T state variables for the formation control system;
U＝[V fc ,θ fc ,ψ vfc ] T a control variable for controlling the system for formation, wherein: v fc A desired speed for the aircraft; theta fc Anticipating a ballistic dip for the aircraft; psi vfc Anticipating a ballistic declination for the aircraft;
W＝V l is a disturbance variable;
y is an output variable;
a is a system matrix, B 1 To control the matrix, B 2 C is an output matrix, and the value of the output matrix is shown as the following formula:
deforming the model can obtain:
in formula (7):
D＝B 2 w represents the total system disturbance;
so far, the construction of a multi-aircraft cooperative control model is completed;
s2: designing an aircraft position cooperative active disturbance rejection controller;
the aircraft position cooperative active disturbance rejection controller comprises a tracking differentiator, an extended state observer and a nonlinear state error feedback control law;
s201: designing a tracking differentiator;
in order to avoid high-frequency trembling, a second-order steepest discrete tracking differentiator is derived by using a steepest control comprehensive function of a second-order pure integrator series discrete system, and the obtained three-channel tracking differentiators are all in the following forms:
in formula (8):
fhan is a function symbol;
fh is the output value of the fhan function;
k is the kth step of discrete simulation;
v 1 a transition process that is a control target;
v 2 controlling the speed of the target transition process;
v 3 controlling the acceleration of the target transition process;
h is a simulation step length;
v 0 for controlling the target, the expected relative position v of the x, y and z directions is represented 0x 、v 0y 、v 0z ；
r 0 Is a fast factor for normal numbers;
h 0 is a filter factor;
steepest control synthesis function fhan (x) 1 ,x 2 ,x 3 R, h) is:
in formula (9):
d、a、a 0 、a 1 、a 2 and y' are process variables in the function calculation process and have no actual physical meaning;
s202: designing an extended state observer;
and respectively establishing a second-order extended state observer in the following form for the three-direction channel:
in formula (10):
e ESO is the observed error of the system output variable;
z 1 is an observed value of a system output variable;
z 2 the observed value of the change rate of the system output variable is obtained;
β 01 、β 02 is the extended state observer gain parameter;
u is a control variable of the formation control system;
h is a simulation step length;
s203: controlling a nonlinear state error feedback control law;
defining an error signal e as
In formula (11):
x, y and z are three-axis coordinates of the aircraft;
x c 、y c 、z c is a desired position of the aircraft;
the nonlinear feedback compensation control law of the formation controller is designed as follows:
in formula (12):
alpha is a power term coefficient;
delta is the half interval length of the linear segment;
substituting the error signal equation (11) and the control law equation (12) into the state space expression (5) can obtain
As can be seen from equation (13), the error signal e converges to 0 within a limited time, proving the feasibility of the designed control law;
so far, the design process of the aircraft position cooperative active disturbance rejection controller is completed;
s3: and designing an aircraft speed tracking controller.
2. The robust formation control method for the aircraft based on the active disturbance rejection control as claimed in claim 1, wherein: s3, the design method of the aircraft speed tracking controller comprises the following steps:
s301: designing a speed tracking controller;
setting up
The state variable of the speed tracking controller is X 1 ＝[V f θ f ψ vf ] T ；
The control variable of the velocity tracking controller is
The state space model is established as follows:
wherein:
let the speed control error e 1 Is composed of
In formula (16):
V fc a desired speed for the aircraft;
θ fc anticipating a ballistic dip for the aircraft;
ψ vfc anticipating a ballistic declination for the aircraft;
the control law of the velocity tracking controller is designed as
Substituting the formula (17) into the formula (14) to obtain
The speed error is converged to 0, and the designed control law has feasibility;
s302: converting an aircraft control command;
converting the control command into an overload form under the ballistic system of the aircraft:
in formula (19):
n cx is overloaded in the x-direction under the ballistic system;
n cy is ballistic y-direction overload;
n cz is z-direction overload under ballistic system;
g is the acceleration of gravity;
the aircraft can realize the tracking of the expected speed according to the required attack angle and the required roll angle or the on-off time and the thrust direction of the direct force engine by back calculation according to the pneumatic data, thereby realizing the position cooperative control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210531221.6A CN114879728B (en) | 2022-05-16 | 2022-05-16 | Aircraft robust formation control method based on active disturbance rejection control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210531221.6A CN114879728B (en) | 2022-05-16 | 2022-05-16 | Aircraft robust formation control method based on active disturbance rejection control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114879728A CN114879728A (en) | 2022-08-09 |
| CN114879728B true CN114879728B (en) | 2022-12-16 |
Family
ID=82675833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210531221.6A Active CN114879728B (en) | 2022-05-16 | 2022-05-16 | Aircraft robust formation control method based on active disturbance rejection control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114879728B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115542943A (en) * | 2022-10-21 | 2022-12-30 | 北京计算机技术及应用研究所 | Unmanned aerial vehicle formation maintaining control method based on active disturbance rejection controller |
| CN116243726B (en) * | 2023-02-24 | 2024-08-27 | 北京航空航天大学 | Gliding hypersonic aircraft formation control method based on speed adjustment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065565B (en) * | 2017-05-18 | 2019-03-01 | 中国人民解放军战略支援部队航天工程大学 | A kind of Auto-disturbance-rejection Control pulled for cluster spacecraft electromagnetism |
| CN110597061B (en) * | 2019-09-18 | 2022-04-26 | 中国人民解放军火箭军工程大学 | Multi-agent fully-distributed active-disturbance-rejection time-varying formation control method |
| CN110989355B (en) * | 2019-12-18 | 2022-11-08 | 西安理工大学 | Improved generation auto-disturbance-rejection controller |
| CN114115335A (en) * | 2021-11-05 | 2022-03-01 | 桂林航天工业学院 | Multi-quad-rotor unmanned aerial vehicle safety formation control method based on tracking differentiator |
-
2022
- 2022-05-16 CN CN202210531221.6A patent/CN114879728B/en active Active
Non-Patent Citations (3)
| Title |
|---|
| Design of Active Disturbance Rejection Controller for UAV Formation Maintenance;Jiajiu Qiang 等;《2019 IEEE International Conference on Unmanned Systems (ICUS)》;20200213;19-23 * |
| 抗时滞LADRC的六旋翼飞行器姿态控制;蔡敏等;《科学技术与工程》;20170228(第06期);77-82 * |
| 无人机参数优化自抗扰编队保持控制器设计;强佳久 等;《飞行力学》;20200229;第38卷(第1期);46-53 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114879728A (en) | 2022-08-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114879728B (en) | Aircraft robust formation control method based on active disturbance rejection control | |
| CN111766899A (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 | |
| CN112684805B (en) | High-mobility micro unmanned aerial vehicle control method considering attitude constraint | |
| CN111258216B (en) | Sliding mode repetitive controller suitable for four-rotor aircraft | |
| CN109885074B (en) | Finite time convergence attitude control method for quad-rotor unmanned aerial vehicle | |
| CN117289598B (en) | Method and system for controlling backstepping sliding mode of aircraft | |
| CN109709978A (en) | A kind of hypersonic aircraft Guidance and control integrated design method | |
| CN109062043A (en) | Consider the spacecraft Auto-disturbance-rejection Control of network transmission and actuator saturation | |
| CN113778129A (en) | Hypersonic speed variable sweepback wing aircraft tracking control method with interference compensation | |
| CN111198570B (en) | Anti-delay high-precision active disturbance rejection attitude control method based on fixed time differentiator prediction | |
| CN113009932B (en) | Four-rotor unmanned aerial vehicle anti-interference control method based on disturbance observer control | |
| CN114815888B (en) | Affine form guidance control integrated control method | |
| CN113467245A (en) | Fractional order sliding mode control method, device and system of aircraft | |
| CN116382332B (en) | UDE-based fighter plane large maneuver robust flight control method | |
| CN115202213A (en) | Four-rotor aircraft control method based on active disturbance rejection control | |
| CN116203981A (en) | Track tracking control method of four-rotor unmanned aerial vehicle based on disturbance observation | |
| CN115407661A (en) | Multi-unmanned aerial vehicle system nonlinear robust tracking control method based on azimuth measurement information | |
| CN116834976A (en) | Fault-tolerant control distribution method for RCS moment output at initial stage of reentry section of aerospace vehicle | |
| CN113848990B (en) | Unmanned aerial vehicle stable flight control method considering structural nonlinearity | |
| CN112149234B (en) | Aircraft particle motion model design method based on pitch angle rate input | |
| CN117519228A (en) | Aircraft maneuvering formation control method based on distributed extended state observer | |
| Song et al. | Research on attitude control of quadrotor uav based on active disturbance rejection control | |
| CN116795126A (en) | Input saturation and output limited deformed aircraft control method | |
| CN116203840A (en) | Adaptive gain scheduling control method for reusable carrier |
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 |