基于扩张状态观测器的四旋翼无人机滑模控制  

Sliding Mode Control of Quad-rotor UAV Based on Extended State Observer

作　　者：赵红超 周洪庆 王书湖 ZHAO Hong-chao;ZHOU Hong-qing;WANG Shu-hu(Yantai Nanshan College, Longkou 265713;Naval Aviation University, Yantai 264001, China)

机构地区：[1]烟台南山学院,山东龙口265713 [2]海军航空大学,山东烟台264001

出　　处：《指挥控制与仿真》2020年第5期91-96,共6页Command Control & Simulation

基　　金：国家自然科学基金项目(61174031)。

摘　　要：针对四旋翼无人机控制系统在实时性、能耗和抗干扰能力等方面需求,采用扩张状态观测器和滑模控制相结合设计了外环位置控制器和内环姿态控制器。外环位置控制器包括3个扩张状态观测器和3个滑模控制器,3个扩张状态观测器对总扰动项和无人机运动速度同时进行估计,3个滑模控制器保证了位置控制系统3个输出量的跟踪误差都收敛到零。内环姿态控制器也包括3个扩张状态观测器和3个滑模控制器,3个扩张状态观测器对汇总干扰项和姿态角速度同时进行估计,3个滑模控制器保证了姿态控制系统3个输出量的跟踪误差都收敛到零。仿真结果表明,所设计的基于扩张状态观测器的滑模控制器保证了四旋翼无人机控制系统具有较强的抗干扰能力,提高了四旋翼无人机的轨迹跟踪精度。The outer loop position controllers and inner loop attitude controllers were designed by combining extended state observer(ESO)and sliding mode control,for satisfying the demands of real-time,energy consumption and disturbance rejection of quad-rotor unmanned aerial vehicle(UAV)control system.The outer loop position controllers consisted of three ESOs and three sliding mode controllers.Three ESOs estimated the complex disturbance and UAV's velocity simultaneously.Three sliding mode controllers ensured three output tracking errors of the position control system to converge to zero.The inner loop attitude controllers also consisted of three ESOs and three sliding mode controllers.Three ESOs estimated the lumped disturbance and attitude angular velocity simultaneously.Three sliding mode controllers ensured three outputs tracking errors of the attitude control system to converge to zero.Simulation results show that the sliding mode controllers based on ESOs ensure the strong disturbance rejection capability of quad-rotor UAV control system,and they increase the trajectory tracking accuracy of quad-rotor UAV.

关 键 词：四旋翼无人机 抗干扰 能耗 扩张状态观测器 滑模控制器 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]