基于有限时间收敛ESO的四旋翼无人机控制  

Quad-rotor vehicle control based on finite-time convergent ESO

作　　者：王世峰[1,2] 赵党军[3] 

机构地区：[1]华中科技大学光学与电子信息学院,湖北武汉430074 [2]湖南工业职业技术学院电气工程系,湖南长沙410208 [3]中南大学航空航天学院,湖南长沙410083

出　　处：《中南大学学报（自然科学版）》2015年第7期2494-2503,共10页Journal of Central South University:Science and Technology

基　　金：湖南省自然科学基金资助项目(14JJ3024)~~

摘　　要：将四旋翼无人机运动分解为6个相互解耦的单输入-单输出(single-input-single-output,SISO)系统,针对各SISO系统中存在的外部扰动和未建模动态提出一种有限时间收敛的扩张状态观测器(finite-time convergent extended state observer,FTCESO),从系统量测输出中重构系统状态和广义扰动。在FTCESO驱动下,基于同伦方法设计具有扰动补偿的无人机位置和姿态控制系统,有效抑制了系统不确定性、气动未建模动态、外部持续和时变扰动。The motion of a quad-rotor vehicle was decomposed into 6 decoupled single-input-single-output（SISO） systems. For disturbances and unmodeled dynamics existing in each SISO system, a finite-time convergent extended state observer （FTCESO） was proposed for the reconstruction of system states and generalized disturbances from measured output signals. Driven by FTCESOs, improved homogenous controllers with disturbance compensations for trajectory tracking and attitude stabilization were designed. Convincing simulations reveal that the proposed method can efficiently accommodate system uncertainties, unmodeled aerodynamics, sustained and time-varying external disturbances.

关 键 词：四旋翼无人机 有限时间收敛 扩张状态观测器 同伦方法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]