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Research On Adaptive Control And Formation Of UAV Based On Disturbance And Input Saturation Restriction

Posted on:2020-02-07Degree:MasterType:Thesis
Country:ChinaCandidate:F ZhouFull Text:PDF
GTID:2392330590995388Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
The control research of the quad-rotor UAV generally includes position control and attitude control.In view of the disturbance in the quad-rotor UAV,this paper applies the double closed loop control strategy and uses two different control methods to control the position and attitude of the drone.Due to the physical limitations of the UAV system itself,input saturation is common in the control system.This paper analyzes the impact of input saturation limitation in the attitude subsystem.Based on the control strategy of the above-mentioned independent drones,and in accordance with the hot issues of today's UAV formations,the article further studies the distributed finite-time formation control based on sliding mode control for multi-UAV formations.And the auto disturbance rejection control strategy is used to estimate and compensate for the unmodelable and external unknown disturbances inside the system.This paper focuses on the independent drone system control based on disturbance and system input saturation limitation and the limited time distributed formation research of multi-UAV.The main work includes:Firstly,for a single unmanned aerial vehicle system with saturation limitation,a dual closed-loop control strategy is used to control the position system and the attitude system respectively.In the outer ring,the sliding mode variable structure control method is designed to control and track the three degrees of freedom of the position subsystem to achieve the stability of the four-rotor UAV position subsystem.The Laypunov stability analysis is used to prove the position subsystem in the proposed The sliding mode control algorithm can achieve consistency and stability.At the same time,the virtual attitude angle of the attitude subsystem is calculated and used for the control research of the inner loop attitude subsystem of the drone.Finally,the effectiveness of the designed sliding mode controller is verified by simulation.Secondly,based on the virtual attitude angle obtained by the outer loop position subsystem,in the inner loop system,based on the input saturation limitation,the adaptive tracking control method is designed to control and track the three degrees of freedom of the attitude subsystem.In order to achieve the stability of the four-rotor UAV attitude subsystem.For the input saturation problem in the attitude subsystem,an auxiliary design system is introduced to analyze the influence of the input constraints,and its state is used for the adaptive tracking control design.At the same time,for the internal unknown and external unmodelable interference,the extended state observer(ESO)is designed and compensated by using the auto-disturbance technique.Finally,the effectiveness of the proposed adaptive tracking control is illustrated by simulation studies.Thirdly,for multi-UAV systems in the case of disturbances.First of all,the paper designs a distributed sliding surface based on the homogeneous method,which enables the multi-UAV system to complete a limited time formation.Then,in order to compensate for the bounded disturbances present in the system,a reasonable sliding mode controller is designed to cause the system state to reach the sliding surface in a limited time.Secondly,for the unknown and unmodelable disturbances in the UAV system,a reasonable extended state observer(ESO)is designed to estimate and compensate such disturbances to improve the overall control effect.Finally,the multi-UAV design system proposed in the paper is verified by MATLAB simulation.
Keywords/Search Tags:Quadrotor UAV, Sliding mode control, Adaptive tracking control, Saturation limited, Extended state observer, Double closed loop control, Formation control
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