非平面全驱动多旋翼无人机的鲁棒预测控制  

Robust Predictive Control of Nonplanar Fully-actuated UAVs

作　　者：马赟 王源 李蒙 王鹏 汤艳玲 Ma Yun;Wang Yuan;Li Meng;Wang Peng;Tang Yanling(School of Mechanical Engineering,Yangzhou University,Yangzhou 225127,China)

机构地区：[1]扬州大学机械工程学院,江苏扬州225127

出　　处：《系统仿真学报》2024年第2期415-422,共8页Journal of System Simulation

基　　金：国家自然科学基金(11602200)。

摘　　要：针对非平面全驱动多旋翼无人机飞行时易受外部风场与未建模动态影响等问题,设计了鲁棒性较好的预测控制系统。采用牛顿-欧拉法构建了无人机六自由度非线性运动模型;设计了线性扩张状态观测器,将同时受匹配与非匹配干扰影响的无人机系统转化为仅受匹配干扰影响的等效系统,用以估计系统的状态变量;针对等效系统设计预测控制器以降低系统输出振荡和输入激增,设计干扰补偿器以提升闭环系统抗干扰的鲁棒性。仿真实验表明:与常规的非线性动态逆控制方法相比,该算法下的闭环系统具有更强的抗干扰能力与更高的轨迹跟踪精度。Targeting the problem that nonplanar fully-actuated unmanned aerial vehicles(UAVs)are susceptible to external winds and unmodeled dynamics,the predictive control system with good robustness is designed.A nonlinear motion model with six degrees of freedom is established through the Newton-Euler approach.A linear extended state observer is designed to estimate the state variables by transforming the system affected by matched and unmatched disturbances into an equivalent system only affected by the matched disturbances.A predictive controller is designed for the equivalent system to reduce the output oscillation and input surging and a disturbance compensator is also designed to improve the system robustness.Simulation results show that,compared to the conventional nonlinear dynamic inverse control method,the proposed algorithm-based closed-loop system has the stronger antiinterference capability and higher trajectory tracking accuracy.

关 键 词：非平面全驱动多旋翼无人机 匹配干扰 非匹配干扰 预测控制 轨迹跟踪 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]