基于自抗扰的四旋翼无人机动态面姿态控制  

Dynamic surface attitude control of quad-rotor UAV based on ADRC

作　　者：张勇 陈增强 张兴会[2] 孙青林 孙明玮 ZHANG Yong;CHEN Zeng-qiang;ZHANG Xing-hui;SUN Qing-lin;SUN Ming-wei(College of Computer and Control Engineering,Nankai University,Tianjin 300350,China;College of Electrical Engineering,Sino-German University of Applied Sciences,Tianjin 300350,China)

机构地区：[1]南开大学计算机与控制工程学院,天津300350 [2]天津中德应用技术大学电气学院,天津300350

出　　处：《吉林大学学报（工学版）》2019年第2期562-569,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(61573197;61573199)

摘　　要：针对四旋翼无人机姿态控制中非线性、强耦合以及对扰动敏感等控制问题,设计了一种基于自抗扰的动态面控制器。与反步控制相比,动态面控制器的设计过程更简单,且利用一阶滤波器来计算虚拟控制信号的导数项,避免了反步控制中的出现的微分膨胀问题。将动态面控制与自抗扰控制相结合,首先利用跟踪微分器可直接获取设定值的微分信号,简化了控制器的设计过程,然后利用扩张状态观测器将系统总扰动实时的补偿到控制器中,提高了系统的鲁棒性和抗干扰能力,并通过Lyapunov直接法对闭环系统进行了稳定性分析。仿真结果表明:本文设计的控制器可保证四旋翼无人机在有外界干扰的情况下能快速、准确地跟踪设定位置。In order to solve the problems in quad-rotor Unmanned Aerial Vehicle(UAV)system,such as nonlinearity,strong coupling and sensitive to disturbance,a dynamic surface Active Disturbance Rejection Control(ADRC)is proposed.Compared with backstepping contrdler,the design process of the dynamic surface controller is more simple and avoids the problem of differential expansion existing backstepping approach by introducing low-pass first order filter.The combination of dynamic surface control with ADRC possesses several advantages.First,the differential signal of the set point can be obtained directly by using the Tracking Differentiator(TD),so the design process of the controller is simplified.Second,the total disturbance of the system is compensated to the controller in real-time by the Extended State Observer(ESO),so the robustness and anti-interference capacity of the system are improved.The stability of the closed-loop system is analyzed by the Lyapunov’s direct method.Simulation results show that,with external disturbance,the designed controller can make the quadrotor track the angle position command more quickly and accurately.

关 键 词：控制理论与控制工程 动态面控制 自抗扰控制 四旋翼无人机 姿态控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]