四旋翼无人机抗干扰轨迹跟踪控制  

Anti-interference trajectory tracking control of quadrotor UAV

作　　者：高俊山[1] 段立勇 邓立为[1] GAO Jun-shan;DUAN Li-yong;DENG Li-wei(Institue of Automation,Harbin University of Science and Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学自动化学院,哈尔滨150080

出　　处：《控制与决策》2021年第2期379-386,共8页Control and Decision

基　　金：黑龙江省自然科学基金项目(LH2019F024);哈尔滨科技创新人才项目(2017RAQXJ006).

摘　　要：针对四旋翼无人机轨迹跟踪过程中存在的参数不确定与外界干扰问题,设计一种双闭环自适应控制策略.为了降低控制器设计复杂度,根据四旋翼无人机系统的欠驱动特性将系统分成姿态内环和位置外环.在扰动观测器的基础上,利用积分型反步控制算法完成无人机位置信息在外界干扰下的稳定跟踪控制.在扰动观测器的基础上,利用自适应滑模控制算法完成无人机姿态信息在参数不确定和外界干扰作用下的稳定跟踪控制.与传统PID控制和滑模控制进行仿真对比,验证所提出控制策略的优越性.Aiming at the parameter uncertainty and external disturbance in the trajectory tracking process of quadrotor UAV,a double closed-loop adaptive control strategy is designed.In order to reduce the complexity of the controller design,the system is divided into an attitude inner loop and a position outer loop according to the underactuating characteristics of the quadrotor UAV system.Based on the disturbance observer,the integral backstepping control algorithm is used to complete the stable tracking control of the UVA’s position information under the influence of external disturbance.Based on the disturbance observer,the adaptive sliding mode control algorithm is used to complete the stable tracking control of the UAV’s attitude information under the influence of parameter uncertainty and external disturbance.Compared with the traditional PID control and sliding mode control,the superiority of the proposed control strategy is verified.

关 键 词：扰动观测器 反步控制 自适应滑模控制 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]