基于极值搜索的四旋翼无人机姿态跟踪控制  

Attitude tracking control for quadrotor UAVs based on extremum seeking

作　　者：郭大力 赵中原 罗子娟[2] GUO Dali;ZHAO Zhongyuan;LUO Zijuan(College of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;The 28th Research Institute of China Electronics Technology Group Corporation,Nanjing 210007,China)

机构地区：[1]南京信息工程大学自动化学院,江苏南京210044 [2]中国电子科技集团公司第二十八研究所,江苏南京210007

出　　处：《智能科学与技术学报》2023年第4期486-493,共8页Chinese Journal of Intelligent Science and Technology

基　　金：江苏省自然科学基金项目(No.BK20200824);南京信息工程大学人才启动经费项目(No.2019r082)。

摘　　要：针对具有不确定性四旋翼无人机姿态跟踪问题,提出了基于极值搜索的鲁棒控制方法。首先,建立四旋翼无人机非线性姿态模型,并考虑模型参数的不确定性,设计鲁棒控制器来确保跟踪误差动态的有界性。然后,将鲁棒控制器与无模型学习算法结合,设计基于学习的控制器,从而自动迭代地调整鲁棒控制器的反馈增益,并在线优化期望性能成本函数。最后,通过MATLAB进行数值仿真,所述控制方法的系统稳态跟踪误差相较于经典鲁棒控制方法降低了0.246,证明了所述方法鲁棒性和优越性。A robust control method based on extremum seeking is proposed for the attitude tracking problem of quadrotor UAV with uncertainty.Firstly,a nonlinear attitude model of a four rotor UAV was established,and considering the uncertainty of model parameters,a robust controller was designed to ensure the dynamic boundedness of tracking errors.Secondly,a learning-based controller was designed by combining a robust controller with a model-free learning algorithm,which automatically and iteratively adjusted the feedback gain of the robust controller and optimized the expected performance cost function online.Finally,numerical simulations were performed using MATLAB,which demonstrated a reduction of 0.246 in the steady-state tracking error of the proposed control method compared to the classical robust control method.This result confirms the robustness and superiority of the proposed method.

关 键 词：四旋翼无人机 姿态跟踪 极值搜索 反馈增益整定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]