基于ADRC的四旋翼无人机轨迹跟踪系统  

Trajectory Tracking System of Quadrotor UAV based on ADRC

作　　者：王浩博 胡淼[1] WANG Haobo;HU Miao(China Helicopter Research and Development Institute,Jingdezhen 333001,China)

机构地区：[1]中国直升机设计研究所,江西景德镇333001

出　　处：《直升机技术》2025年第1期19-23,共5页Helicopter Technique

摘　　要：针对四旋翼无人机飞行时可能存在的模型偏差以及外部扰动等不确定性情况导致的控制困难的问题,提出了一种结合ADRC与PID的轨迹跟踪控制系统。针对四旋翼无人机的数学模型,建立由PID组成的姿态内环以及由ADRC组成的位置外环,通过ADRC完成未知扰动的自主观测并实现扰动的在线补偿,实现更好的轨迹跟踪能力。仿真结果表明,所设计的控制系统与传统控制方式相比有更高的轨迹跟踪精度以及更好的扰动抑制能力。A trajectory tracking control system combining ADRC and PID was proposed to address the problem of control difficulties caused by model deviation and external perturbations and other uncertainties that may exist during the flight of a quadrotor UAV.For the mathematical model of the quadrotor UAV,the attitude inner loop composed of PID and the position outer loop composed of ADRC were established,and the autonomous observation of unknown perturbations and the online compensation of perturbations were accomplished by ADRC to realize better trajectory tracking capability.Simulation results showed that the control system designed in this paper had higher trajectory tracking accuracy and better disturbance suppression ability compared with the traditional control method.

关 键 词：四旋翼无人机 自抗扰控制 轨迹跟踪 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]