Predictive Control of Quad-Rotor Delivering Unknown Time-Varying Payloads Based upon Extended State Observer  

作　　者：Yuan Wang 

机构地区：[1]Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle, Nanjing University of Aeronautics and Astronautics, Nanjing, China

出　　处：《Advances in Aerospace Science and Technology》2019年第2期29-41,共13页航空科学与技术（英文）

摘　　要：In this paper, robust control problem is addressed for quad-rotor delivering unknown time-varying payloads. Firstly, the model of a quad-rotor carrying payloads is built. Dynamics of the payloads are treated as disturbances and added into the model of the quad-rotor. Secondly, to enhance system robust-ness, the extended state observer (ESO) is applied to estimate the disturbances from the payloads for feedback compensation. Then a type of predictive controller targeting multiple-input-multiple-output (MIMO) system is developed to degrade the influences caused by sudden changes from load-ing/dropping of the payloads. Finally, by making comparison with the con-ventional cascade proportional-integral-derivative (CPID) and the sliding mode control (SMC) approaches, superiority of the scheme developed is va-lidated. The simulation results indicate that the CPID method shows poor performance on attitude stabilization and the SMC shows input chattering phenomenon even it can achieve satisfied control performances.In this paper, robust control problem is addressed for quad-rotor delivering unknown time-varying payloads. Firstly, the model of a quad-rotor carrying payloads is built. Dynamics of the payloads are treated as disturbances and added into the model of the quad-rotor. Secondly, to enhance system robust-ness, the extended state observer (ESO) is applied to estimate the disturbances from the payloads for feedback compensation. Then a type of predictive controller targeting multiple-input-multiple-output (MIMO) system is developed to degrade the influences caused by sudden changes from load-ing/dropping of the payloads. Finally, by making comparison with the con-ventional cascade proportional-integral-derivative (CPID) and the sliding mode control (SMC) approaches, superiority of the scheme developed is va-lidated. The simulation results indicate that the CPID method shows poor performance on attitude stabilization and the SMC shows input chattering phenomenon even it can achieve satisfied control performances.

关 键 词：Quad-Rotor PAYLOADS Delivery ATTITUDE CONTROL DISTURBANCE Estimation Feedback Compensation Predictive CONTROL 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]