基于ESO的欠驱动四旋翼飞行器轨迹鲁棒控制

针对欠驱动四旋翼无人飞行器的系统特性,为解决传统四旋翼飞行控制方法中存在的弱点,如系统状态变量间相互有较大耦合、控制效果易受建模误差的影响及抵御外界干扰能力较弱等弱点,设计一种基于扩张状态观测器(extended state observer, ESO)的轨迹跟踪算法,由ESO实现对系统复合干扰的估计,并在控制律中对复合干扰进行实时补偿。由于ESO只需要测量系统输出即可实现对复合干扰的精确估计,因此在实际系统中易于实现,为验证所提算法,进行两种不同情况下的仿真研究,分别为矩形轨迹跟踪和圆形轨迹跟踪,仿真结果验证了所提算法的可行性。

Robust trajectory tracking control for underactuated quadrotor UAV based on ESO

For the system characteristics of the underactuated quadrotor unmanned aerial vehicle (UAV)，in order to solve the weakness of the traditional control method of quadrotor UAV, such as the strong coupling of the system state, the influence of the modeling errors for the control accuracy and the weakness of the anti interference ability，a robust trajectory tracking algorithm based on extended state observer (ESO) is designed. The interference is estimated by ESO, and the algorithm composites the interference in the control law. Because the extended state observer requires only to measure the output of the system, it is easy to implement in actual system. Simulation study is carried out in two different cases (circular and rectangular trajectory tracking), and the simulation results verify the effectiveness of the proposed algorithm.