四旋翼无人机串级自抗扰姿态控制及轨迹跟踪  

Cascaded Active Disturbance Rejection Attitude Control and Trajectory Tracking of Quadrotor UAV

作　　者：高强[1,3] 刘新鹏 刘春平 吉月辉 刘俊杰[1,3] GAO Qiang;LIU Xinpeng;LIU Chunping;JI Yuehui;LIU Junjie(School of Electrical Engineering and Automation,Tianjin University of Technology,Tianjin 300000,China;School of Intelligent Manufacturing,Tianjin Sino-German University of Applied Technology,Tianjin 300000,China;Tianjin Key Laboratory for Control Theory&Applications in Complicated Industry Systems,Tianjin 300000,China)

机构地区：[1]天津理工大学电气工程与自动化学院,天津300000 [2]天津中德应用技术大学智能制造学院,天津300000 [3]天津市复杂系统控制理论及应用重点实验室,天津300000

出　　处：《电光与控制》2023年第3期90-95,共6页Electronics Optics & Control

基　　金：国家自然科学基金(61975151,61308120)。

摘　　要：提出一种基于串级线性自抗扰(ADRC)的四旋翼无人机姿态控制器设计方法,并采用比例-积分-速度(PIV)控制设计位置控制器,实现四旋翼无人机的轨迹跟踪控制。对于姿态控制系统,通过对俯仰、滚转和偏航3个通道设计线性扩张状态观测器(LESO),对系统内部不确定性与外部扰动进行实时观测与补偿。对于位置控制系统,采用PIV控制算法设计控制器,完成平移变量的稳定跟踪控制。对所涉及的串级自抗扰姿态控制器的稳定性进行了分析说明。最后,在Quanser飞行控制实验平台中进行轨迹跟踪实验,验证了所提方法的有效性。A design method of attitude controller for quadrotor UAV based on cascaded linear Active Disturbance Rejection Controller(ADRC) is proposed,and the position controller is designed by using Proportional-Integration-Velocity(PIV)control to realize the trajectory tracking control of quadrotor UAV.For the attitude control system,a Linear Extended State Observer(LESO) is designed for pitch,roll and yaw channels to observe and compensate for the internal uncertainties and external disturbances in real time.For the position control system,the PIV control algorithm is used to design the controller and achieve stable tracking control of translation variable.The stability of the cascaded ADRC is analyzed and explained.Finally,trajectory tracking experiments on Quanser flight control experimental platform verify the effectiveness of the proposed method.

关 键 词：四旋翼无人机 线性自抗扰控制 线性扩张状态观测器 串级控制 轨迹跟踪 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]