基于自适应状态观测器的无人机自耦PD轨迹跟踪  

Trajectory Tracking Control of UAV Based on Adaptive ESO with Self-coupling PD

作　　者：张宇轩 贺勇[1] Zhang Yuxuan;He Yong(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410114,China)

机构地区：[1]长沙理工大学电气与信息工程学院,长沙410114

出　　处：《信息化研究》2022年第6期7-13,共7页INFORMATIZATION RESEARCH

基　　金：长沙理工大学校企合作基金(No.30404022264)

摘　　要：针对受外部干扰的四旋翼无人机位置控制问题,本文提出了一种自耦PD和扩张状态相结合的控制方法。首先通过引入虚拟控制力将四旋翼无人机位置控制问题转换为内环姿态以及外环位置控制,然后将姿态内环以及位置外环受到的外部扰动和内部未知动态分别视为总扰动,进而构造了自适应带宽扩张状态观测器以提高系统的抗干扰能力。仿真结果表明,本文所提控制方案与自耦PD以及PID相比,有效提升了四旋翼无人机轨迹跟踪控制系统的抗扰动性能。Aiming at the problem of position control of quadrotor UAV subject to external interference,a control method combining self-coupling PD and extended state is proposed.Firstly,the position control problem of the quadrotor UAV is transformed into the position control of the inner ring and the outer ring by introducing the virtual control force.Then,the external disturbance and the internal unknown dynamic caused by the inner ring and the outer ring are regarded as the total disturbance respectively,and then the adaptive bandwidth-expanding state observer is constructed to improve the anti-interference ability of the system.The simulation results show that the proposed control scheme effectively improves the anti-disturbance performance of the quadrotor UAV trajectory tracking control system compared with the self-coupling PD and PID.

关 键 词：四旋翼无人机 自适应带宽扩张状态观测器 自耦PID 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]