| 基于扩张状态观测器的四旋翼无人机轨迹跟踪控制 |
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| 引用本文： | 张建中,刘海洋,胡化增,张广浩,李 峰. 基于扩张状态观测器的四旋翼无人机轨迹跟踪控制[J]. 科学技术与工程, 2019, 19(31): 380-385 |
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| 作者姓名： | 张建中 刘海洋 胡化增 张广浩 李 峰 |
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| 作者单位： | 山东科技大学机械电子工程学院,青岛,266590;山东科技大学电气与自动化工程学院,青岛,266590 |
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| 摘 要： | 针对四旋翼无人机飞行控制中高不确定性、强耦合性、模型参数摄动等问题,提出一种控制方法,将无法精确建模的动态量及未知干扰量合并为扰动项,通过引入线性扩张状态观测器对扰动项的值进行估计,并结合反步控制器进行补偿,从而消除了未知扰动的影响,有效提升了四旋翼无人机的抗干扰能力。通过仿真对比验证了控制策略的有效性。
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| 关 键 词： | 四旋翼无人机 反步控制 扩张状态观测器 轨迹跟踪控制 |
| 收稿时间： | 2019-04-20 |
| 修稿时间： | 2019-08-12 |
Trejectory Tracking Control Based on Extended State ObserverFor Quadrotor UAV |
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| Zhang Jian-zhong,Liu Hai-yang,Hu Hua-zeng,Zhang Guang-hao and Li Feng. Trejectory Tracking Control Based on Extended State ObserverFor Quadrotor UAV[J]. Science Technology and Engineering, 2019, 19(31): 380-385 |
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| Authors: | Zhang Jian-zhong Liu Hai-yang Hu Hua-zeng Zhang Guang-hao Li Feng |
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| Affiliation: | Shandong University of Science and Technology, School of Mechanical and Electronic Engineering,,,, |
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| Abstract: | In this paper,a control scheme using Linear Extended State Sbserver(LESO) was proposed for a quadrotor Unmanned Aerial Vehicle(UAV)with great coupled, model parameter perturbation and uncertainty of system model.The UAV model was established with a disturbance term which includes unknown disturbances and unmodeled dynamics. The value of the disturbance term was estimated by introducing a LESO and compensated with the backstepping controller The system was proven to be globally asymptotically stable by the Lyapunov stability analysis.The simulation confirmed the effectiveness of the control scheme |
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| Keywords: | Quadrotor UAV Backstepping Control LESO Trajectory Tracking Control |
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