基于改进自抗扰的四旋翼无人机轨迹跟踪控制  

Trajectory tracking control of quadrotor UAV based on improved active disturbance rejection control

作　　者：韦为 吴艳[1,2] 李芳 王丽芳[1,2] 张俊智 WEI Wei;WU Yan;LI Fang;WANG Lifang;ZHANG Junzhi(Institute of Electrical Engineering,Chinese Academy of Sciences,Beijing 100190,China;University of Chinese Academy of Sciences,Beijing 100049,China;School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China)

机构地区：[1]中国科学院电工研究所,北京100190 [2]中国科学院大学,北京100049 [3]清华大学车辆与运载学院,北京100084

出　　处：《电工电能新技术》2023年第5期1-13,共13页Advanced Technology of Electrical Engineering and Energy

基　　金：民航飞行技术与飞行安全重点实验室项目(FZ2021ZZ04)。

摘　　要：四旋翼无人机具有较强的非线性特性,容易受到内外部不确定性扰动的影响,因此精准的轨迹跟踪控制成为挑战。本文针对上述问题提出了一种基于改进自抗扰控制和模型预测控制结合的分层控制架构以提高系统的鲁棒性及跟踪精度。首先,基于非线性自抗扰控制设计了外环位置控制器,同时针对自抗扰控制存在的相位滞后问题,设计了相位补偿器;然后基于模型预测控制设计了内环姿态控制器。本文所采用的控制方法不依赖于精确的数学模型,能够在满足系统约束的条件下对给定的轨迹进行精确的跟踪,具有较强的抗干扰能力。通过典型工况的仿真实验表明本文所提控制方法在轨迹跟踪精度上较传统自抗扰控制提升了40%以上,且具有较强的鲁棒性。The quadrotor UAV has strong nonlinear characteristics and is easily affected by internal and external uncertain disturbances,so accurate trajectory tracking control becomes a challenge.Aiming at the above problems,this paper proposes a hierarchical control architecture based on improved active disturbance rejection control and model predictive control to improve the robustness and tracking accuracy of the system.Firstly,the outer loop position controller is designed based on nonlinear ADRC,and the phase compensator is designed for the phase lag problem existing in ADRC.Then,the inner loop attitude controller is designed based on model predictive control.The control method adopted in this paper does not depend on the precise mathematical model,can track the given trajectory accurately under the condition of satisfying the system constraints,and has a strong anti-interference ability.Simulation experiments under typical working conditions show that the proposed control method in this paper improves the tracking accuracy by more than 40%compared with pure active disturbance rejection control and has strong robustness.

关 键 词：不确定性扰动 轨迹跟踪控制 改进自抗扰控制 模型预测控制 相位补偿器 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]