四旋翼飞行器鲁棒自适应抗干扰姿态控制  

Adaptive robust anti-disturbance attitude control for quadrotors

作　　者：李统帅 陈龙胜[1] 彭云[1] 石童昕 金飞宇 LI Tongshuai;CHEN Longsheng;PENG Yun;SHI Tongxin;JIN Feiyu(School of Aeronautics and Astronautics,Nanchang Hangkong University,Nanchang 330063,China)

机构地区：[1]南昌航空大学航空宇航学院,南昌330063

出　　处：《航空工程进展》2025年第1期54-63,共10页Advances in Aeronautical Science and Engineering

基　　金：国家自然科学基金(61963029);江西省自然科学基金(20224BAB202027,20232ACB202007)。

摘　　要：高性能姿态控制器可有效抑制不确定性和外界动态干扰对系统的综合影响,保证四旋翼飞行器安全可靠地完成既定飞行任务。采用径向基神经网络(RBFNN)在线逼近四旋翼飞行器飞行运动中的非线性不确定性,并将RBFNN的逼近误差和外部未知动态干扰视为集总扰动,设计扩张状态观测器(ESO)对其进行在线估计,以ESO的模型辨识误差和跟踪误差为决策变量设计RBFNN的权值调整策略以抑制神经网络的黑盒问题;在此基础上,基于动态面控制和Lyapunov稳定理论为四旋翼飞行器飞行运动系统设计鲁棒自适应抗干扰姿态跟踪控制器,并构造辅助系统抑制动态面控制中滤波误差对闭环系统性能的影响。结果表明:本文设计的姿态跟踪控制器在不确定性和动态干扰的综合影响下能够保证四旋翼飞行器精确跟踪期望姿态角,且具有很好的鲁棒性和稳定性。The high-performance attitude controller can effectively suppress comprehensive effects caused by uncer⁃tainties and external dynamic disturbances,and ensure that the quadrotor can safely and reliably fly to complete the designated mission.Therefore,nonlinear uncertainties of quadrotor flight systems are approximated by a radial ba⁃sis function neural network(RBFNN)quadrotor,and an extended state observer(ESO)is designed to estimate lumped disturbances caused by RBFNN approximation errors and external disturbances.The black box problem of RBFNN is solved by using a model identification error and a tracking error as decision variables.Then,an adaptive robust anti-disturbance attitude tracking controller is designed for quadrotor flight systems based on dynamic sur⁃face control and Lyapunov stability theory,and an auxiliary system is constructed to suppress the effect of filtering error on the closed-loop system performance.The results show that the quadrotor designed in this paper can pre⁃cisely track the desired attitude angles,and the proposed controller has strong robustness and stability in the pres⁃ence of uncertainties and disturbances.

关 键 词：四旋翼飞行器 动态面控制 神经网络 扩张状态观测器 干扰抑制 

分 类 号：V275.1[航空宇航科学与技术—飞行器设计] V249.1