基于自抗扰的四旋翼飞行器姿态控制  

Attitude Control of Four-rotor Aircraft Based on ADRC

作　　者：包明霞 师五喜[1] 郭建川[1] 

机构地区：[1]天津工业大学电气工程与自动化学院,天津300387

出　　处：《自动化与仪表》2017年第2期10-13,22,共5页Automation & Instrumentation

基　　金：天津市自然科学基金项目(15JCYBJC47800)

摘　　要：针对四旋翼飞行器受控模型复杂和在飞行时容易受各种未知不确定因素影响等问题,该文基于自抗扰技术设计了一种飞行器姿态控制器。控制器的设计包括跟踪微分器,扩张状态观测器,非线性状态误差反馈三部分。其中跟踪微分器以有限时间无超调地进入稳态,扩张状态观测器对总扰动进行观测和估计,非线性状态误差反馈对扰动估计值进行补偿并有效地抑制跟踪误差,实现了四旋翼飞行器的姿态控制。仿真及试验结果表明,所设计的姿态自抗扰控制器具有良好的快速性、鲁棒性、抗干扰性。According to the problems of complexity of controllable model and influences of unknown uncertainties in- terferences in the process of flighting,an attitude controller of four-rotor was designed based on ADRC. Controller de- sign includes TD,ESO,NLSEF. Where TD use limited time and without overshoot into the steady state,total distur- bance was observed and estimated by ESO,and the estimated value of disturbances was compensated and effectively reduces the tracking error by NLSEF,whieh to achieve attitude control of four-rotor aircraft. Simulation and experi- ment results indicate that the designed attitude active disturbance rejection controller has fine rapidity and robustness and anti-disturbance performance.

关 键 词：四旋翼飞行器 姿态控制 自抗扰技术 

分 类 号：TP271.72[自动化与计算机技术—检测技术与自动化装置]