US 12,280,899 B2
Aircraft attitude tracking control method, system and computer equipment
Xuan Peng, Guangdong (CN); Shan Lu, Guangdong (CN); Zhijiang Lou, Guangdong (CN); Sen Xie, Guangdong (CN); and Fengli Dai, Guangdong (CN)
Filed by Shenzhen Polytechnic University, Guangdong (CN)
Filed on Dec. 5, 2024, as Appl. No. 18/970,747.
Claims priority of application No. 202311664381.9 (CN), filed on Dec. 6, 2023.
Prior Publication US 2025/0091737 A1, Mar. 20, 2025
Int. Cl. B64G 3/00 (2006.01); G05D 1/49 (2024.01)
CPC B64G 3/00 (2013.01) [G05D 1/49 (2024.01)] 10 Claims
OG exemplary drawing
 
1. A method for aircraft attitude tracking control, characterized by comprising the following steps:
acquire aircraft operating parameters;
establish a kinematic model and a dynamic model of an aircraft attitude tracking error based on the aircraft operating parameters and a quaternion description;
construct a performance constraint function that converges at a specified time based on a hyperbolic cosecant composite function, and set an attitude tracking error constraint boundary based on the performance constraint function;
construct a constrained attitude error conversion function based on the attitude tracking error constraint boundary, and solve an inverse function of the constrained attitude error conversion function to obtain a dynamic equation of an unconstrained attitude tracking conversion error;
according to the dynamic equation of the unconstrained attitude tracking conversion error and the kinematic model of the aircraft attitude tracking error, establish a dynamic equation of an unconstrained conversion error;
solve one or more virtual control instructions in the kinematic model based on the dynamic equation of the unconstrained conversion error and a backstepping method, and construct a sigmoid tracking differentiator to obtain a numerical derivative of the virtual control instructions;
design a control torque based on the virtual control instructions and the numerical derivative, use the backstepping method to solve the actual control input in the dynamic model, and use the control torque and the actual control input in an aircraft attitude tracking system to realize aircraft attitude tracking control.