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摘要:
针对四旋翼姿态控制欠驱动、强耦合的特性，提出了一种基于线性/非线性切换自抗扰控制（SADRC）的四旋翼姿态解耦控制方法。首先，以四旋翼平台为研究对象，建立了其姿态的数学模型，引入SADRC，对基本原理进行了介绍。其次，基于SADRC设计了四旋翼姿态解耦控制器，并基于Lyapunov函数对系统进行了稳定性分析。最后，通过仿真实验对SADRC控制性能进行了验证。结果表明：SADRC在某些场合抗干扰和鲁棒性方面较线性自抗扰控制（LADRC）和非线性自抗扰控制（NLADRC）具有优势，具有工程应用的潜力。
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关键词:
- 四旋翼 /
- 姿态控制 /
- 线性/非线性切换自抗扰控制(SADRC) /
- 稳定性分析 /
- 鲁棒性
Abstract:An Switch in linear-nonlinear Active Disturbance Rejection Control (SADRC) attitude decoupling control approach was proposed due to the underactuated, strong coupling characteristics of quadrotor. First, the mathematical model of the quadrotor attitude was formulated by taking quadrotor aircraft platform as research object. The SADRC and the basic principles of it were introduced. Then, an attitude decoupling controller based on SADRC was designed, followed by the stability analysis via Lyapunov function. Finally, the control performance of SADRC is verified by simulation experiments. The results indicate that SADRC controller possesses better performance to both Linear Active Disturbance Rejection Control (LADRC) and Nonlinear Active Disturbance Rejection Control (NLADRC) in anti-disturbance and robustness in some occasions, and has potential applications in engineering practice.
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图 4 四旋翼ϕ、θ、ψ通道跟踪和抗扰效果
Figure 4. Tracking and anti-disturbance performance for quadrotor of ϕ、θ、ψchannel
图 6 参数摄动情况下3种控制方法的鲁棒性性能
Figure 6. Robustness performance for the three controlled quadrotor system
表 1 LADRC、NLADRC、SADRC控制器参数选择
Table 1. Parameter preferences of LADRC, NLADRC, SADRC
控制器 ϕ通道 θ通道 ψ通道 LADRC[15] wo=28, wc=2.8, b0=0.424 wo=30, wc=3, b0=0.424 wo=30, wc=3.2, b0=0.213 NLADRC[14] ESO α1=0.75, α2=0.5, α3=0.25,
β01=30, β02=300, β03=1 000,
b0=0.9, δ=0.006α1=0.75, α2=0.5, α3=0.25,
β01=30, β02=300, β03=1 000,
b0=0.9, δ=0.006α1=0.75, α2=0.5, α3=0.25,
b0=0.06, δ=0.004, β01=30,
β02=300, β03=1 000NLESF δ=3，α1=0.5, α2=0.05,
β1=150, β2=120δ=3，α1=0.5, α2=0.05,
β1=150, β2=120δ=1，α1=0.5, α2=0.05,
β1=300, β2=180SADRC α1=1, α2=0.5, α3=0.25,
wc=2.8, wo=30, woN=8,
δs=0.005, b0=0.424，
δ=0.002，β01=3woN,
β02=3woN2/5, β03=woN3/9α1=1, α2=0.5, α3=0.25,
wc=3, wo=30, woN=8,
δs=0.005, b0=0.424，
δ=0.002，β01=3woN,
β02=3woN2/5, β03= w3oN/9α1=1, α2=0.5, α3=0.25,
wc=3.2, wo=8, woN=8,
δs=0.005, b0=0.213，
δ=0.002，β01=3woN,
β02=3woN2/5, β03= woN3/9注：α1、α2、α3分别为所设计控制器NLESO中非线性函数fal(e, αi, δ)对应αi(i=1, 2, 3)大小；wo和wc分别为LESO和控制器的带宽；b0为系统参数；δ和δs分别为切换自抗扰线性区间长度和切换临界值；β01、β02、β03为NLESO的增益；β1和β2分别为控制分量u0的控制律增益；woN为NLESO带宽；h为离散步长。 
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