四旋翼无人机SO(3)自适应控制器设计  

Design of Adaptive Controller on SO(3) for Quadrotors

作　　者：刘锦涛[1] 吴文海[1] 李静[2] 周思羽[1] 

机构地区：[1]海军航空工程学院青岛校区,山东青岛266041 [2]海军航空工程学院战略导弹系,山东烟台264200

出　　处：《控制工程》2016年第8期1156-1162,共7页Control Engineering of China

摘　　要：在充分考虑工程应用背景的前提下,针对转动惯量参数未知、存在外部扰动等问题,提出了一种含有不确定性的四旋翼无人机SO(3)模型。采用了内环姿态控制+外环质心控制的控制系统结构,并利用鲁棒自适应控制技术设计了姿态控制器,应用Lyapunov稳定性理论进行了稳定性分析,得到了系统全局稳定的结论。最后,通过仿真验证了所设计控制系统的正确性和有效性,与传统PID控制相比收敛速度更快、精度更高。In full consideration of engineering applications, for the problem of unknown inertial parameters, outside disturbance and so on, an SO(3) quadrotor model with uncertainties is put forward. The control system is divided into the inner attitude loop and the outside position loop, and an attitude controller is designed, which uses the robust adaptive control technology. The global stability of the system is proved by using the Lyapunov stability theory. Finally, the correctness and effectiveness of the designed control system is verified by the simulation, the convergence speed is faster and the precision is higher compared to the traditional PID control.

关 键 词：鲁棒自适应 控制系统 稳定性 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1