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基于ADRC姿态解耦的四旋翼飞行器鲁棒轨迹跟踪

杨立本 章卫国 黄得刚

杨立本, 章卫国, 黄得刚等 . 基于ADRC姿态解耦的四旋翼飞行器鲁棒轨迹跟踪[J]. 北京航空航天大学学报, 2015, 41(6): 1026-1033. doi: 10.13700/j.bh.1001-5965.2014.0392
引用本文: 杨立本, 章卫国, 黄得刚等 . 基于ADRC姿态解耦的四旋翼飞行器鲁棒轨迹跟踪[J]. 北京航空航天大学学报, 2015, 41(6): 1026-1033. doi: 10.13700/j.bh.1001-5965.2014.0392
YANG Liben, ZHANG Weiguo, HUANG Deganget al. Robust trajectory tracking for quadrotor aircraft based on ADRC attitude decoupling control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(6): 1026-1033. doi: 10.13700/j.bh.1001-5965.2014.0392(in Chinese)
Citation: YANG Liben, ZHANG Weiguo, HUANG Deganget al. Robust trajectory tracking for quadrotor aircraft based on ADRC attitude decoupling control[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(6): 1026-1033. doi: 10.13700/j.bh.1001-5965.2014.0392(in Chinese)

基于ADRC姿态解耦的四旋翼飞行器鲁棒轨迹跟踪

doi: 10.13700/j.bh.1001-5965.2014.0392
基金项目: 国家自然科学基金(61374032); 航空科学基金(20125853035)
详细信息
    通讯作者:

    杨立本(1982—),男,甘肃庆阳人,讲师,yangliben0880@163.com,主要研究方向为欠驱动飞行器自主控制、自修复控制等.

  • 中图分类号: TP273

Robust trajectory tracking for quadrotor aircraft based on ADRC attitude decoupling control

  • 摘要: 针对欠驱动四旋翼飞行器的控制特性,提出一种基于自抗扰控制(ADRC)的姿态解耦控制算法,该算法可以克服传统欠驱动四旋翼控制方法中存在的问题,如系统状态间耦合严重,抗干扰能力弱及系统建模误差对跟踪性能影响较大等弱点.该算法利用扩张状态观测器(ESO)实现状态间耦合项的跟踪和估计,同时ESO也可实现对系统干扰的估计,干扰包括系统内扰和外扰.利用动态反馈线性化将非线性MIMO系统转化成线性SISO系统,然后利用非线性反馈控制律实现四旋翼姿态系统的高品质控制,在上述姿态解耦控制的基础上研究飞行器的鲁棒轨迹跟踪问题,不同情况下的仿真结果验证了上述姿态控制算法可提高系统轨迹跟踪的鲁棒性.该算法不依赖于精确的系统模型,降低了实际应用的难度,并有很强的抗干扰能力,具有实际应用的价值.

     

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出版历程
  • 收稿日期:  2014-07-01
  • 网络出版日期:  2015-06-20

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