四旋翼飞行器全控制算法研究  

Full Control Algorithm Study of Quadrotor Aircraft

作　　者：崔道旺 柳向斌[1] CUI Dao-wang LIU Xiang-bin(University of Shanghai for Science and Technology, Shanghai 200093, Chin)

机构地区：[1]北京交通大学电子信息与工程学院,北京100044

出　　处：《控制工程》2017年第10期2038-2044,共7页Control Engineering of China

基　　金：工业控制技术国家重点实验室开放课题(ICT1543);中央高校基本科研业务费专项资金(W15JB00540)资助

摘　　要：四旋翼飞行器是一类典型的欠驱动系统,姿态控制为飞行控制的核心。文章首先建立了完整的姿态运动非线性模型,针对四旋翼飞行器姿态受到内部参数摄动和外界干扰等不确定影响,设计了一种鲁棒自适应控制器,旨在提高飞行器的姿态鲁棒性和准确性。同时对于高度和位置子系统中的外界干扰的影响,通过构造的鲁棒自适应函数抵消其不良影响。采用Lyapunov函数方法证明了系统的稳定性和跟踪轨迹的毕竟有界性。最后通过仿真证明了所提控制器良好的控制效果。Quadrotor aircrafts are a class of typical underactuated systems and the attitude control is the core of flight control. A complete nonlinear attitude model is built to solve the problem. Firstly, since the attitude of the quadrotor is sensitive to system parameter perturbation and external disturbances and uncertainties, a robust adaptive controller is proposed to improve the robustness and accuracy of the attitude of the rotor. In addition, we design a robust adaptive function to reject the effects of external disturbances on the height and position subsystem of the rotor. The system＇s stability and the ultimate boundedness of the tracking trajectory are proved by way of construction of a Lyapunov function. The simulation results show the effectiveness of the designed controller.

关 键 词：姿态控制 鲁棒自适应控制器 外界干扰 稳定性 毕竟有界性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]