基于指数收敛的四旋翼无人机鲁棒自适应飞行控制

发布时间：2019-05-05 15:57

【摘要】：针对四旋翼无人机鲁棒自适应飞行问题,提出了一种基于指数收敛的控制方法。考虑到四旋翼系统的欠驱动、强耦合等非线性特性,采用线性化反馈控制策略实现对其轨迹追踪飞行能力的基本控制;针对线性化反馈控制易受系统内外部未知干扰等影响,采用基于指数收敛干扰观测器组合控制设计,实现四旋翼飞行的鲁棒与自适应控制;线性反馈及状态观测器控制系统基于指数收敛稳定。进行了仿真分析,结果表明,干扰观测器对四旋翼系统中存在的未知干扰具有很好的估计能力,所设计的基于指数收敛控制系统,结构简单,且具有较强的干扰抑制能力和较高的系统稳定性,满足四旋翼无人机的鲁棒及自适应飞行能力要求。
[Abstract]:To solve the robust adaptive flight problem of four-rotor UAV, a control method based on exponential convergence is proposed. Considering the nonlinear characteristics of the four-rotor system, such as underactuation and strong coupling, the linearized feedback control strategy is used to realize the basic control of the trajectory tracking flight capability of the four-rotor system. Based on exponential convergence disturbance observer, the robust and adaptive control of four-rotor flight is realized based on exponential convergence disturbance observer for linearized feedback control, which is easily affected by unknown disturbance from inside and outside of the system. Linear feedback and state observer control systems are stable based on exponential convergence. The simulation results show that the disturbance observer has a good estimation ability to the unknown disturbance in the four-rotor system. The proposed control system based on exponential convergence is simple in structure. Moreover, it has strong interference suppression ability and high system stability, which meets the requirements of robust and adaptive flight capability of four-rotor UAV.
【作者单位】：东北大学机械工程与自动化学院;
【基金】：国家自然科学基金资助项目(51375080) 中央高校基本科研业务研究生科研创新项目(N1503060002)
【分类号】：V279;V249.1

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