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中南大学学报(自然科学版)

Journal of Central South University

第48卷    第8期    总第276期    2017年8月

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文章编号:1672-7207(2017)08-2079-09
基于串级ADRC的四旋翼飞行器悬停控制
叶孝璐,俞立,张文安,张丹

(浙江工业大学 信息工程学院,浙江 杭州,310023)

摘 要: 针对四旋翼悬停控制问题,提出一种串级自抗扰控制方法。首先,根据欧拉及牛顿定理建立四旋翼飞行器的动力学模型,并解耦为双回路、多子系统的结构。其次,根据四旋翼飞行器系统的自身结构特点,设计串级自抗扰控制器,为获取较好的内环输入信号,对外环设计线性ADRC控制器;同时,设计内环非线性ARDC控制器以获得更好的跟踪性能。针对系统内部参数摄动和存在外部干扰等不确定性,引入扩张状态观测器对系统的状态和内外扰动进行实时估计,并利用非线性误差反馈控制律进行补偿,消除内外扰动的影响。最后,仿真验证所提控制策略的有效性和优越性。

 

关键词: 四旋翼飞行器;串级自抗扰算法;扩张状态观测器;悬停控制

Cascade ADRC-based hover control for quadrotor air vehicles
YE Xiaolu, YU Li, ZHANG Wenan, ZHANG Dan

College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China

Abstract:A cascade active disturbance rejection controller was designed for the hover control of a quadrotor air vehicle. First, a dynamic model of a quadrotor air vehicle was presented by applying the Euler and Newton theorem, where the model was further decoupled as a double loops and multi-subsystems structure. Then, a cascade active disturbance rejection controller (ADRC) was designed by taking the structural features of quadrotor air vehicle systems into consideration. A linear ADRC controller was designed for the external-loop to obtain a better loop input signal and a nonlinear ARDC controller was deisgned for the inner-loop to obtain better tracking performance. For the parameter perturbations within the system and the influence of the existing uncertainties of external disturbances, an extended state observer was designed for estimating the state and the sum of internal and external disturbance of the system, and the nonlinear state error feedback control law was used upon this to compensate the disturbance and eliminate the influence of internal and external disturbance on the system. Finally, simulations were presented to verify the effectiveness and superiority of the proposed control method.

 

Key words: quadrotor air vehicle; cascade active disturbance rejection controller (ADRC); extended state observer; hover control

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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