CN116795124A - Four-rotor unmanned aerial vehicle attitude control method based on dynamic event triggering - Google Patents
Four-rotor unmanned aerial vehicle attitude control method based on dynamic event triggering Download PDFInfo
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Abstract
The invention relates to the technical field of four-rotor unmanned aerial vehicle control, in particular to a four-rotor unmanned aerial vehicle attitude control method based on dynamic event triggering. And then, a continuous self-adaptive control law is designed by utilizing a self-adaptive backstepping method, and unknown parameter estimation and tracking control of the unmanned aerial vehicle roll angle, pitch angle and yaw angle on a reference signal are realized. And introducing a dynamic event triggering mechanism on the basis, and designing an event triggering controller. The scheme can solve the problem of frequent data acquisition caused by traditional periodic sampling, so that the controller can update only when needed, and the energy consumption is reduced.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to a four-rotor unmanned aerial vehicle gesture control method based on dynamic event triggering.
Background
The four-rotor unmanned aerial vehicle is a complex, strong-coupling and underactuated nonlinear system from system structural analysis, but has better maneuverability, and can complete a flight task in a plurality of task environments at lower cost, so that the four-rotor unmanned aerial vehicle is widely focused on application in various fields, and the control law design problem becomes a research hot spot. Various control strategies, such as PID algorithm, self-adaptive sliding mode control and self-adaptive back-stepping method, are proposed by students at home and abroad for controlling the four-rotor unmanned aerial vehicle. These control strategies collect, process and execute data in a continuous manner. When the control system is used for actual flight control, the control system needs to collect the state information of the unmanned aerial vehicle and update the controller at a higher sampling frequency, so that the energy consumption is not beneficial to saving, and the service life of the unmanned aerial vehicle can be shortened due to frequent communication.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a four-rotor unmanned aerial vehicle control method based on dynamic event triggering, which is used for solving the problem of frequent data acquisition caused by traditional periodic sampling.
The above purpose is realized by the following technical scheme:
firstly, aiming at a four-rotor unmanned aerial vehicle in a complex environment, a nonlinear system dynamics model with unknown air damping coefficients is established by selecting an appropriate coordinate system. Because of the strong coupling caused by the structural characteristics of the four-rotor unmanned aerial vehicle, the unmanned aerial vehicle is divided into two control parts of a position ring and a posture ring for decoupling by adopting cascade control. And then, a continuous self-adaptive control law is designed by utilizing a self-adaptive backstepping method, and unknown parameter estimation and tracking control of the unmanned aerial vehicle roll angle, pitch angle and yaw angle on a reference signal are realized. On the basis, a dynamic event triggering mechanism is introduced, and an event triggering controller is designed, so that the four-rotor unmanned aerial vehicle system can realize stable flight according to the expected gesture and track, the updating frequency of the four-rotor unmanned aerial vehicle controller is reduced, and the number of triggering events is reduced.
Compared with the prior art, the invention has the beneficial effects that:
because four rotor unmanned aerial vehicle easily receives the interference and has communication resource limited problem, traditional periodic sampling needs to gather unmanned aerial vehicle's state information and controller update with higher sampling frequency, is unfavorable for practicing thrift the energy consumption, and frequent communication can shorten unmanned aerial vehicle life, causes higher control cost. The dynamic event triggering control is utilized, based on the principle of 'on demand', the controller is not limited by a fixed sampling period any more, and is updated only when needed, so that the updating frequency of the four-rotor unmanned aerial vehicle controller is reduced, and the triggering event times are reduced.
Drawings
FIG. 1 is a schematic view of roll, pitch, and yaw tracking in accordance with the present invention;
FIG. 2 is a schematic diagram of parameter estimation according to the present invention;
FIG. 3 is a timing diagram of the triggering of the present invention;
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and examples.
Step (1) a four-rotor unmanned aerial vehicle dynamics model with unknown air constant coefficient is built, and the process is as follows:
using θ= [ x, y, z] T Andthe position coordinates and the linear speed of the unmanned aerial vehicle under the earth fixed coordinate system are respectively represented. Phi, theta, phi define three attitude angles of the unmanned aerial vehicle, and a state variable +.>And obtaining a state space equation of the four-rotor unmanned aerial vehicle by utilizing the Newton second law and the Euler equation:
wherein m is the total mass of the quadrotor unmanned aerial vehicle, g is the gravitational acceleration, [ theta ] 1 ，Θ 2 ，Θ 3 ，Θ 4 ，Θ 5 ，Θ 6 ]For unknown parameters, the component force of the resultant force generated by the four propellers acting on each subsystem is recorded as the input of each subsystem, namely U 1 ，U 2 ，U 3 Respectively controlling three attitude angles of rolling, pitching and yawing, U 4 Representing a position control input. h is a 1 (X)，h 2 (X)，h 3 (X)，h 4 (X) is a known function.Wherein [ J ] xx ，J yy ，J zz ]Moment of inertia of four rotors relative to three axes of body coordinate system, u x ＝cosφsinθcosψ+sinφsinψ，u y ＝cosφsinβsinψ-sinφcosψ。
Step (2) designing a continuous controller by utilizing a self-adaptive backstepping method, and processing unknown parameters of a system, wherein the process is as follows:
2.1 without loss of generality, taking a roll angle subsystem as an example, assuming that the expected values of roll angle and pitch angle are obtained, the control law of the subsystem is designed. Order theThe roll angle subsystem is
2.2 giving the roll angle reference signal phi d Defining error variables
e 1 ＝x 1 -φ d
e 2 ＝x 2 -α 1
2.3 wherein alpha 1 Is a virtual control law. Selecting Lyapunov functions for a rolling subsystem
Wherein the method comprises the steps of Zeta is an estimate of the unknown coefficient Θ 1 > 0 is set toAnd (5) counting parameters.
2.4 deriving V with respect to time t
2.5 designing virtual control law and adaptive control law as
Wherein c 1 ＞0，c 2 ＞0，γ 1 > 0 is a design parameter.
2.6 due toAnd the control law and the self-adaptive law are brought into the Lyapunov function to obtain
Wherein the method comprises the steps ofTaking tau ★ ＝min{2c 1 ，2c 2 ，γ 1 }. From reasoning, the error variable e of the roll angle subsystem 1 ，e 2 And adaptive tracking error->Is bounded.
Step (3) introducing a dynamic event triggering mechanism, designing an event triggering controller, reducing the updating frequency of the unmanned aerial vehicle controller, saving communication resources, and the process is as follows:
3.1 design the following event trigger control laws
Wherein the method comprises the steps ofσ 1 ，ε 1 ，ξ 1 ，ζ 1 All are positive design parameters, eta φ (t) is a dynamic threshold function, and the event trigger mechanism controls the amount of control once the trigger condition is satisfied>Will be applied to the system.
3.2 selecting Lyapunov function for roll angle subsystem
3.3 derivation with respect to roll angle subsystem
3.4 atIn, the triggering threshold is designed to be known +.>There is a continuous function lambda (t) satisfying +.>So thatAnd substitute into to obtain
3.5 dynamic event trigger controller with design
3.6 due to hyperbolic tangent functionWherein ε > 0 and κ > 0, since |λ (t) | is less than or equal to 1, substituted to obtain
3.7 taking τ 1 ＝min{2c 1 ，2c 2 ，β 1 ，γ 1 By inequality ofObtaining the product
Wherein the method comprises the steps of
From the derivationI.e. < ->All are bounded and known in combination with definitionsAnd alpha is 1 And their first derivatives are all bounded. From the definition, the tracking error e 1 Satisfy the following requirementsThen->Will converge to a tunable tight set
Step (4) needs to avoid the Zeno behavior in event triggering control, i.e. there is a strictly positive triggering interval lower bound, and the process is as follows:
4.1 first define sampling errors
4.2 deriving |e (t) |
4.3 control law get according to event trigger
4.4 obviouslyAs a bounded function, i.e. there must be a constant K, such that +.>At->Inner pairIntegrating the two ends simultaneously to obtain
4.5 combining inequality
4.6 As described above, the dynamic event-triggered control law for roll angle, pitch angle, yaw angle, altitude subsystem is
Wherein sigma j ＞0，ε j ＞0，β j ＞0，ξ j ＞0，j=1..4 is a design parameter.For each ofThe trigger timing of the subsystem.
In order to verify the feasibility of the proposed method, the invention provides a simulation result of the control method on a MATLAB platform: the parameters were given as follows: m=1.4 kg, g=9.81 m/s 2 ，J xx ＝0.061kg/m 2 ，J yy ＝0.06kg/m 2 ，J zz ＝0.065kg/m 2 ，K 1 ，K 2 ，K 3 ＝0.3N*s/m，P 1 ，P 2 ，P 3 =0.35n×s/m, and the attitude angles in the initial state are all 0.
In summary, the four-rotor unmanned aerial vehicle attitude control method based on dynamic event triggering can effectively reduce the update frequency of the controller and improve the resource utilization rate.
Claims (4)
1. A four-rotor unmanned aerial vehicle attitude control method based on dynamic event triggering is characterized in that,
the method comprises the following steps:
step (1) establishing a four-rotor unmanned aerial vehicle dynamic model with unknown air constant coefficient,
step (2) utilizing a self-adaptive backstepping method to design a continuous controller, processing unknown parameters of a system,
and (3) introducing a dynamic event triggering mechanism, designing an event triggering controller, reducing the updating frequency of the unmanned aerial vehicle controller and saving communication resources.
2. The method for controlling the attitude of the four-rotor unmanned aerial vehicle based on dynamic event triggering of claim 1, wherein the process of the step (1) is as follows:
usingAnd->Respectively representing the position coordinates and linear speeds of the unmanned aerial vehicle under the earth fixed coordinate system, wherein phi, theta and phi define three attitude angles of the unmanned aerial vehicle, and a state variable +.>And obtaining a state space equation of the four-rotor unmanned aerial vehicle by utilizing the Newton second law and the Euler equation:
wherein m is the total mass of the quadrotor unmanned aerial vehicle, g is the gravitational acceleration, [ theta ] 1 ，Θ 2 ，Θ 3 ，Θ 4 ，Θ 5 ，Θ 6 ]For unknown parameters, the component force of the resultant force generated by the four propellers acting on each subsystem is recorded as the input of each subsystem, namely U 1 ，U 2 ，U 3 Respectively controlling three attitude angles of rolling, pitching and yawing, U 4 Representing a position control input; h is a 1 (X)，h 2 (X)，h 3 (X)，h 4 (X) is a known function,wherein [ J ] xx ，J yy ，J zz ]The moment of inertia of the four rotors relative to the three axes of the machine body coordinate system,
u x ＝cosφsinθcosψ+sinφsinψ,u y ＝cosφsinθsinψ-sinφcosψ。
3. the method for controlling the attitude of the four-rotor unmanned aerial vehicle based on dynamic event triggering of claim 1, wherein the process of the step (2) is as follows:
taking a roll angle subsystem as an example, assuming that expected values of roll angle and pitch angle are obtained, designing a control law of the subsystem to ensure that x is equal to 1 ＝φ，The roll angle subsystem is
Giving a roll angle reference signal phi d Defining error variables
e 1 ＝x 1 -φ d
e 2 ＝x 2 -α 1
Wherein alpha is 1 For virtual control law, selecting Lyapunov function for rolling rotor system
Wherein the method comprises the steps of Zeta is an estimate of the unknown coefficient Θ 1 > 0 is a design parameter;
deriving V with respect to time t
Designing virtual control law and self-adaptive control law as
Wherein c 1 ＞0，c 2 ＞0，γ 1 > 0 is a design parameter;
due toAnd the control law and the self-adaptive law are brought into the Lyapunov function to obtain
Wherein the method comprises the steps ofTaking tau ★ ＝min{2c 1 ，2c 2 ，γ 1 From reasoning, the error variable e of the roll angle subsystem 1 ,e 2 And adaptive tracking error->Is bounded.
4. The method for controlling the attitude of the four-rotor unmanned aerial vehicle based on dynamic event triggering of claim 1, wherein the process of the step (3) is as follows:
the following event trigger control law is designed
Wherein the method comprises the steps ofσ 1 ，ε 1 ，ξ 1 ，/>All are positive design parameters, eta φ (t) is a dynamic threshold function, and the event trigger mechanism controls the amount of control once the trigger condition is satisfied>Will be applied to the system;
selecting Lyapunov functions for a roll angle subsystem
Deriving with respect to roll angle subsystem
At the position ofIn, the event trigger threshold is known from the design +.>There is a continuous function lambda (t) satisfying +.>So thatAnd substitute into to obtain
Dynamic event trigger controller with design
Since the hyperbolic tangent function satisfiesWherein ω is greater than 0 and k is greater than 0, since |lambda (t) | is less than or equal to 1, substituted to obtain
Taking tau 1 ＝min{2c 1 ，2c 2 ，β 1 ，γ 1 By inequality ofObtaining the product
Wherein the method comprises the steps of
From the derivationNamely e 1 ，e 2 ，/>η φ All are bounded and x is known in combination with definition 1 ，x 2 ，/>α 2 And alpha is 1 And the first derivatives thereof are all bounded, and the tracking error e is known by definition 1 Satisfy the following requirementsThen->Will converge to a tunable tight set
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| CN117850212B (en) * | 2024-01-10 | 2024-06-18 | 江苏师范大学 | Four-rotor unmanned aerial vehicle attitude tracking control method based on nonsingular terminal sliding mode |
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