一种多旋翼无人机自抗扰姿态控制器  

An Auto-Disturbance-Rejection Attitude Controller for Multi-Rotor Unmanned Aerial Vehicle

作　　者：任开众 徐胜[2] 苏成悦[2] 陈元电[2] Ren Kaizhong;Xu Sheng;Su Chengyue;Chen Yuandian(School of Information Engineering,Guangdong University of Technology,Guangzhou 510006;School of Physics and Optoelectronic Engineering,Guangdong University of Technology,Guangzhou 510006)

机构地区：[1]广东工业大学信息工程学院,广州510006 [2]广东工业大学物理与光电工程学院,广州510006

出　　处：《现代计算机》2022年第8期93-99,共7页Modern Computer

基　　金：倾转四旋翼无人机飞行控制关键技术研究(201804010384)。

摘　　要：为提高多旋翼无人机姿态控制器的鲁棒性和调参简易性,提出了一种自适应调参的无人机自抗扰姿态控制器。采用一阶惯性模型、扩张状态观测器和四阶线性微分跟踪器来设计反步姿态控制律。仿真和实际飞行结果表明,控制器大多数情况下只需调节b参数,初始控制b参数比实际参数大10倍都不会导致姿态控制发散,证明了此姿态控制器的鲁棒性和实用性。In order to improve the robustness and ease of parameter adjustment of the multi-rotor UAV attitude controller,an ADRC attitude controller based on the batch gradient descent algorithm was proposed.A first-order inertial model,an extended state observer and a fourth-order linear differential tracker are used to design the backstepping attitude control law.The simulation and actual flight results show that the controller only needs to adjust the b parameter in most cases,and the initial control b param⁃eter is 10 times larger than the actual parameter without causing the attitude control divergence,which proves the robustness and practicability of this attitude controller.

关 键 词：多旋翼无人机 姿态控制器 自抗扰控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1