基于改进ADRC的四旋翼无人机抗干扰姿态控制系统设计  

Anti-interference Design of UAV's Attitude Control System Based on Improved ADRC

作　　者：余小燕 孙宪坤[1] 熊玉洁 胡清礼 陈善鹏 YU Xiaoyan;SUN Xiankun;XIONG Yujie;HU Qingli;CHEN Shanpeng(School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201600,China;School of Computer and Information Engineering,Xiamen University of Technology,Xiamen 361024,China)

机构地区：[1]上海工程技术大学电子电气工程学院,上海201600 [2]厦门理工学院计算机与信息工程学院,福建厦门361024

出　　处：《电光与控制》2020年第12期78-83,共6页Electronics Optics & Control

基　　金：上海市科委基金(16dz1206002);青年科学基金(61801286);上海市科委项目(18511101600)。

摘　　要：四旋翼无人机空气动力学特性复杂,易受干扰,从而影响对无人机的稳定控制。为提高无人机姿态控制系统的抗干扰性,设计了一个基于改进自抗扰控制的四旋翼姿态控制系统。将全局快速终端滑模控制技术与传统自抗扰控制技术结合,利用全局快速终端滑模控制技术优化自抗扰控制系统中非线性误差反馈控制律的功能,对自抗扰控制系统进行重新设计,并使用Lyapunov理论证明该控制系统的稳定性。仿真实验结果表明改进的自抗扰控制系统在姿态控制中有着更快的响应速度、更强的抗干扰能力。The quadrotor UAV has complex aerodynamic characteristics and is prone to be interferedwhich will greatly affect the stability of the UAV.In order to enhance the anti-interference ability of the UAV's attitude control systeman attitude control system is designed based on the improved Active Disturbance Rejection Control(ADRC).The proposed method combines the traditional ADRC technology with the global fast terminal sliding mode control technologywhich is used to optimize the feedback control law of the nonlinear state error in the ADRC system.In additionthe ADRC system is redesignedand its stability is proved by using Lyapunov theory.Experimental results show that the improved ADRC system has faster response speed and stronger anti-interference ability in attitude control.

关 键 词：无人机姿态控制 自抗扰控制 全局快速终端滑模 非线性误差反馈控制律 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]