电光与控制, 2019, 26 (1): 92, 网络出版: 2019-01-19
基于鲁棒积分的四旋翼飞行器姿态控制
Robust Integral Based Attitude Control Approach of Quadrotors
摘要
针对四旋翼飞行器姿态控制过程中广泛存在的外部干扰和参数不确定性, 提出了一种基于鲁棒符号误差积分(RISE)的四旋翼姿态控制策略。通过一个模型前馈控制项实现精确的模型补偿, 抵消模型非线性影响, 以及一个鲁棒积分反馈项, 有效抑制系统模型不确定性。设计的控制器在参数不确定性、外部干扰、噪声存在的情况下, 实现了四旋翼飞行器精确姿态跟踪。基于Lyapunov理论的稳定性分析验证了所设计控制器的收敛性。最后设计大量仿真和对比试验说明该姿态控制方法的有效性和鲁棒性。
Abstract
Considering the external disturbances and parametric uncertainties existed in the attitude control of quadrotor Unmanned Aerial Vehicles(UAVs), we proposed an attitude control approach based on RISE.In the approach, a model-based feed-forward control term is used to achieve accurate nonlinear compensation, and a robust integral feedback term to compensate the unknown modeling uncertainty.The proposed controller can achieve stable and high-precision attitude control for quadrotors in presence of parametric uncertainties, external disturbances and noises.Lyapunov analysis reveals that the proposed method can guarantee the tracking errors to converge to the origin with asymptotic tracking performance.The effectiveness and robustness of the proposed method are validated through extensive simulations and comparisons.
王竹晴, 刘宁, 邵星灵, 曹志斌, 杨卫. 基于鲁棒积分的四旋翼飞行器姿态控制[J]. 电光与控制, 2019, 26(1): 92. WANG Zhu-qing, LIU Ning, SHAO Xing-ling, CAO Zhi-bin, YANG Wei. Robust Integral Based Attitude Control Approach of Quadrotors[J]. Electronics Optics & Control, 2019, 26(1): 92.