四旋翼无人机不匹配扰动抗干扰控制  

Mismatched Disturbance Anti-disturbance Control of Quadrotor UAV

作　　者：马志宝 丁洁[1] 周映江[1] MA Zhibao;DING Jie;ZHOU Yingjiang(College of Automation and College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing,Jiangsu 210023,China)

机构地区：[1]南京邮电大学自动化学院人工智能学院,江苏南京210023

出　　处：《计算技术与自动化》2024年第1期1-8,共8页Computing Technology and Automation

基　　金：江苏省自然科学面上资助项目(BK20211275);南京邮电大学自然科学基金资助项目(NY220217,NY221079)。

摘　　要：针对四旋翼无人机存在的不匹配干扰和执行器故障等现象,提出了一种基于有限时间观测器的飞行控制方案。从无人机的运动学模型出发,构建了受执行器故障和不匹配干扰影响的控制模型。将干扰观测器与非奇异终端滑模控制(NTSMC)方法相结合,以实现复合抗干扰和容错控制器设计。首先,设计了两个非线性有限时间扰动观测器来估计不匹配扰动和执行器故障,有限时间观测器使得估计误差在有限时间内收敛到零。其次,将观测器与NTSMC控制方法结合,以在有限的时间内实现跟踪,并有效地减少抖振。最后,从理论和仿真验证了控制方法的有效性和所期望的控制性能。A flight control scheme of a quadrotor UAV in the presence of mismatched disturbances and actuator faults is investigated.A disturbance-observer-based control in combination with a non-singular terminal sliding mode control(NTSMC)is developed to achieve a composite anti-disturbance and fault-tolerant controller that provides expected performance.Starting from the kinematic models of UAVs,the control-oriented model subject to actuator faults and mismatched disturbances are constructed.Firstly,two novel nonlinear disturbance observers are designed to estimate the mismatched disturbances and the actuator faults,which make the estimation errors converge to zero in finite settling time.Secondly,a NTSMC method is proposed to achieve desired tracking performance in finite time and effectively reduces the chatter.Finally,numerical simulations show the effectiveness and desired control performance of the proposed method.

关 键 词：有限时间 干扰观测器 不匹配干扰 执行器故障 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]