四旋翼无人机姿态非线性控制研究  

The Research on Nonlinear Control of Quadrotor UAV Attitude

作　　者：唐堂[1] 罗晓曙[1] TANG Tang;LUO Xiao-shu(College of Electrical Engineering,Guangxi Normal University,Guilin Guangxi 541004,China)

机构地区：[1]广西师范大学,广西桂林541004

出　　处：《计算机仿真》2019年第1期71-75,126,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(11262004);广西多源信息挖掘与安全重点实验室开放基金自主项目(MIMS5-06);广西信息科学实验中心自主项目(KA1430);广西研究生教育创新计划项目(XYCSZ2017051)

摘　　要：四旋翼无人机易受到非线性和不确定性因素干扰等原因的影响,使得姿态的稳定控制成为难点。为解决由线性控制带来的姿态控制性能降低和由初始状态误差导致的"峰化"现象等问题,提出了一种基于内外环结构下的非线性控制算法用来稳定姿态控制。上述控制器外环采用非线性PD控制,内环采用非线性自抗扰控制。采用有限时间收敛微分跟踪器,改进原自抗扰控制器组成结构,使得内环收敛速度大于外环,保证了闭环系统稳定性。仿真结果表明,非线性控制器可以实现任意初始状态下的无人机飞行姿态控制,响应速度比线性控制快,在有干扰的情况下依旧保持的稳定的姿态控制。The quadrotor UAV is susceptible to nonlinear and uncertain factors,which makes the attitude stability control difficult. A nonlinear control algorithm based on internal and external loop structure is proposed to stabilize attitude control to solve the problem of decreasing the performance of attitude control brought by linear control and the phenomenon of " peaking" caused by initial state error. The external loop of the controller adopts nonlinear PD control,and the inner loop adopts nonlinear active disturbance rejection control. The tracking differentiator with finitetime convergent is used to improve the structure of the original active disturbance rejection controller,which makes the inner ring converge faster than the outer ring,and the stability of the closed-loop system is ensured. The simulation results show that the nonlinear controller can realize the UAV flight attitude control under any initial state,the response speed is faster than the linear control,and the stable attitude control is still maintained under the condition of interference.

关 键 词：四旋翼无人机 姿态控制 非线性控制 复合控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] TP273.3[自动化与计算机技术—检测技术与自动化装置]