电光与控制, 2019, 26 (10): 43, 网络出版: 2020-12-16
四旋翼飞行器降阶自抗扰控制
Reduced-Order Active Disturbance Rejection Control for Quad-rotor Aircraft
摘要
针对四旋翼飞行器模型不确定、易受外界干扰影响等特点, 采用一种降阶自抗扰控制(RADRC)方法对其位置和姿态进行控制, 并对控制系统稳定性进行了分析。在该方法中, 将降阶线性自抗扰控制(RLADRC)与非线性跟踪微分器结合, 以适应四旋翼飞行器各通道对控制性能的不同需求。其中, 设计的降阶线性扩张状态观测器(RLESO)仅观测系统输出微分信号及扰动, 避免了对已知信息的重复观测, 使系统带宽在保证RLESO估计精度的同时, 减小系统的噪声敏感度。通过仿真和Qball2平台实验对RADRC与传统线性自抗扰方法的轨迹跟踪能力和抗扰性能进行了比较, 验证了RADRC方法的有效性和优越性。
Abstract
Aiming at the uncertainty of quad-rotor aircraft model and its sensitivity to external disturbances, a Reduced-order Active Disturbance Rejection Control (RADRC) method is designed to control its position and attitude, and the stability of the control system is analyzed. In this method, the Reduced-order Linear ADRC (RLADRC) is combined with nonlinear tracking differentiator to meet the different requirements of each channel of the quad-rotor aircraft on control performance.Among them, the Reduced-order Linear Expansion State Observer (RLESO) only observes the system output differential signals and disturbances, avoiding repeated observations of known information, so that the system bandwidth can guarantee the estimation accuracy of RLESO, and reduce the noise sensitivity of the system. The trajectory tracking ability and anti-disturbance performance of RADRC are compared with that of the traditional LADRC method through simulation and Qball2 platform experiments, which verifies the effectiveness and superiority of RADRC method.
李霞, 陈奕梅. 四旋翼飞行器降阶自抗扰控制[J]. 电光与控制, 2019, 26(10): 43. LI Xia, CHEN Yimei. Reduced-Order Active Disturbance Rejection Control for Quad-rotor Aircraft[J]. Electronics Optics & Control, 2019, 26(10): 43.