基于干扰观测器的四旋翼无人机轨迹跟踪鲁棒控制  

Disturbance observer-based robust trajectory tracking control for a quadrotor UAV

作　　者：杨柳[1] 刘金琨[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《飞行力学》2015年第4期328-333,共6页Flight Dynamics

基　　金：高等学校博士学科点专项科研基金资助(20121102110008)

摘　　要：针对四旋翼无人机提出了一种基于干扰观测器的轨迹跟踪鲁棒控制算法。在外界气流干扰和内部模型参数不确定性的影响下,保证空间位置和偏航角可以快速平滑地跟踪参考信号。对于位置子系统,设计了自适应更新算法,对质量不确定性和气动干扰力进行抑制。设计了一个新颖的非线性干扰观测器,对未知气动干扰力矩进行观测。通过在控制输入中加入干扰力矩的观测值,保证姿态子系统能够以指数收敛速率跟踪中间指令信号。利用Lyapunov理论,证明了整个闭环系统全局渐近稳定。仿真结果表明,该控制器简单有效,对外界干扰具有较强的鲁棒性,同时对负载不确定性也具有自适应能力。A robust trajectory tracking control law using disturbance observer is developed for quadrotor UAV. In the presence of exogenous aerodynamic disturbance and inner model parameter uncertainty, it guaranteed that the position and yaw angle could track the reference signal speedily and smoothly. An a- daptive algorithm was designed for the position subsystem to suppress the mass uncertainty and disturb- ance force. A novel nonlinear disturbance observer was devised to observe the unknown disturbance torque. To track the intermediate command signal with an exponential convergence, the estimation of dis- turbance torque was added to the input. By virtue of Lyapunov theory, the global asymptotic stability of the overall closed-loop system was proved. Simulation results indicate that the controller is simple and ef- fective, which has strong robustness to external disturbances and also has self-adaptive capability to un-certainty of load.

关 键 词：四旋翼无人机 垂直起降 干扰观测器 轨迹跟踪 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]