The invention provides an unmanned aerial vehicle anti-interference control method based on an internal model control principle. A physical system of an unmanned aerial vehicle is considered. The intelligent control method comprises the steps of establishing an unmanned aerial vehicle dynamics model with external disturbance, building an external disturbance system, designing an unmanned aerial vehicle distributed control algorithm with external disturbance based on theoretical knowledge such as graph theory and convex analysis, further designing a Lyapunov function. The convergence of the designed algorithm is proved through the Lyapunov theorem, it is guaranteed that the state variables of the unmanned aerial vehicle converge to the target, finally the effectiveness and feasibility of the method are verified again through a numerical simulation example, and dynamic tracking of the unmanned aerial vehicle and formation of the unmanned aerial vehicle can be well achieved under the disturbance condition. The control precision of the unmanned aerial vehicle system is improved, and the method has certain practical value in both civil and military aspects.
本发明提供了一种基于内模控制原理的无人机抗扰控制方法,考虑了无人机的物理系统。本发明智能控制方法为:建立具有外部扰动的无人机动力学模型,搭建外部扰动系统,基于图论、凸分析等理论知识设计具有外部扰动的无人机分布式控制算法,此算法要求满足系统的约束条件并且平衡点存在,进一步设计李亚普洛夫函数,由李雅普诺夫定理证明所设计算法的收敛性,保证无人机状态变量收敛到目标处,最后通过数值仿真实例再次验证此方法的有效性和可行性,本发明能够很好地在有扰动情况下实现对无人机的动态跟踪以及无人机编队形成,提高无人机系统的控制精度,无论是在民用还是军用方面都具备一定的实用价值。
Internal model anti-interference control method of quad-rotor unmanned aerial vehicle system
一种四旋翼无人机系统的内模抗扰控制方法
2021-05-07
Patent
Elektronische Ressource
Chinesisch
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