基于预设性能的四旋翼无人机抗干扰轨迹跟踪控制  

Disturbance Rejection Trajectory Tracking Control of Quadrotor UAVs with Prescribed Performance

作　　者：聂佩晗 赵振华 曹东[1] NIE Peihan;ZHAO Zhenhua;CAO Dong(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106

出　　处：《指挥与控制学报》2024年第5期611-619,共9页Journal of Command and Control

基　　金：国家博士后基金(2020M681591);江苏省优秀青年基金(BK20230091)资助。

摘　　要：针对考虑跟踪误差收敛特性的受周期性干扰影响的四旋翼无人机系统轨迹跟踪问题,提出了一种基于预设性能的全回路主动抗干扰控制方法。通过对四旋翼无人机动力学模型分析,将全回路的轨迹跟踪问题变换为指令跟踪问题;分别对位置和姿态回路设计谐波干扰观测器和高阶滑模干扰观测器,以实现对集总干扰和不可测状态的估计;基于干扰估计信息和预设性能方法,在位置回路设计复合预设性能动态逆控制器、在姿态回路设计复合动态逆控制器。仿真结果表明,所提方案有效抑制了周期性干扰的影响,并保证了轨迹跟踪误差按照预设的性能进行收敛。For the trajectory tracking problem of quadrotor UAV systems affected by periodic disturbances,considering the convergence characteristics of tracking errors,a full-loop active disturbance rejection control method based on prescribed performance is proposed.Firstly,the trajectory tracking problem of a full-loop is transformed into the command tracking problem by the analysis of dynamics model of quadrotor UAVs.And then,the harmonic disturbance observer and higher-order sliding-mode disturbance observer are designed in the position and attitude loop respectively to estimate of the lumped disturbances and unmeasured states.Finally,the composite dynamic inverse controllers with prescribed performance are designed in position loop and the composite dynamic inverse controllers are designed in attitude loop based on the disturbance estimation information and prescribed performance method.The simulations results show that the proposed control scheme effectively suppresses the influences of periodic disturbances and guarantees that the trajectory tracking errors can converge according with the prescribed performance.

关 键 词：四旋翼无人机 预设性能控制 谐波干扰观测器 自抗扰控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1