四旋翼直升机的线性自抗扰与非线性H_2/H_∞混合控制  

Quadrotor helicopter control based on LADRC &nonlinear mixed H_2/H_∞ control structure

作　　者：刘俊杰 高强[2] 孙明玮 陈增强 LIU Junjie;GAO Qiang;SUN Mingwei;CHEN Zengqiang(College of Artificial Intelligence, Nankai University, Tianjin 300350, China;School of Electrical Engineering, Tianjin University of Technology, Tianjin 300384, China)

机构地区：[1]南开大学人工智能学院,天津300350 [2]天津理工大学电气与电子工程学院,天津300384

出　　处：《中南大学学报（自然科学版）》2019年第4期873-880,共8页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(61573199;61573197)~~

摘　　要：为实现四旋翼直升机的轨迹跟踪控制,基于线性自抗扰与非线性H_2/H_∞混合控制提出一种非线性鲁棒控制策略。采用拉格朗日—欧拉方程建立四旋翼直升机的非线性数学模型,并将其划分为旋转运动子系统和平移运动子系统。在旋转运动子系统中,选取非线性H_2/H_∞混合控制实现姿态角的稳定控制;在平移运动子系统中,采用线性自抗扰控制完成位置系统的跟踪控制。研究结果表明:在考虑参数不确定性和持续外部扰动的情况下,所提出的控制策略鲁棒性较强,具有较好的跟踪效果和抗扰性能。In order to realize the path tracking for a quadrotor helicopter, a nonlinear robust control strategy based linear active disturbance rejection control(LADRC) and nonlinear mixed H2/H∞ control was proposed. The nonlinear model for the helicopter obtained by the Lagrange-Euler formalism was divided into rotational motion subsystem and translational motion subsystem. To stabilize the rotational movements, a nonlinear mixed H2/H∞ controller was used. To track the reference trajectory, a linear active disturbance rejection controller was designed for translational motion subsystem. The results show that the proposed nonlinear robust control strategy has high performance and strong robustness in the presence of the parametric uncertainty and sustained external disturbance.

关 键 词：无人机控制 非线性H2/H∞混合控制 线性自抗扰控制 四旋翼直升机 鲁棒控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]