Bi-bandwidth extended state observer based disturbance rejection control method and its application on UAV
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摘要:
针对实际系统中普遍存在的非匹配快变扰动和量测噪声问题，提出了一种基于双频扩张状态观测器（BESO）的反步抗扰控制方法。双频扩张状态观测器通过方向转换因子和双带宽比例因子调整观测器的带宽，在准确估计快变扰动的同时可避免放大量测噪声。在此基础上结合反步控制，形成一种逐级补偿的控制结构，通过Lyapunov方法设计了控制律，可保证系统对非匹配扰动的渐进稳定。针对工程应用，进一步给出了控制器参数调节的建议。将所提控制律应用于微型四旋翼无人机的定高控制，仿真结果验证了其补偿非匹配扰动和抑制量测噪声方面的有效性。
Abstract:This paper addresses the problem of the fast time-varying mismatch disturbance and measurement noise that inevitably exist in actual control systems, proposing a backstepping disturbance rejection control method based on the bi-bandwidth extended state observer (BESO). The BESO adjusts the bandwidth of the observer through a direction switching operator and a bi-bandwidth scaling factor. Therefore, it can accurately estimate the fast time-varying disturbance while avoiding the amplification of measurement noise. Then the backstepping control is combined with the BESO to form a step-by-step compensation control scheme, and the corresponding control law is given through the Lyapunov approach to ensure the asymptotic stability of the system for the mismatch disturbance. Suggestions for the parameter tuning process are given for engineering practice. In the end, the proposed approach is applied to the height control of a quadrotor micro-UAV. The results verify its effectiveness in the mismatch disturbance compensation and measurement noise suppression.
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图 5 未补偿扰动的反步法闭环响应
Figure 5. Closed-loop response of backstepping controller without disturbance compensation
图 6 补偿扰动的反步法闭环响应
Figure 6. Closed-loop responses of two backstepping disturbance compensation
表 1 BESO与LESO估计
${d_1}, {d_2}$ 性能指标Table 1. Performance indexes of BESO and LESO on
${d_1}$ 估计 ${J_1}$ ${J_2}$ ${J_3}$ $\dfrac{J_{1{\rm{LESO} } } }{J_{1{\rm{BESO} } } }$/% $\dfrac{J_{2{\rm{LESO} } } }{J_{2{\rm{BESO} } } }$/% $\dfrac{J_{3{\rm{LESO} } } }{J_{3{\rm{BESO} } } }$/% BESO LESO BESO LESO BESO LESO d1 0.210 0.241 0.233 0.256 0.163 0.211 114.8 109.9 129.4 d2 0.5883 0.7589 0.6893 0.9180 0.3866 0.4410 129.0 133.2 114.1 
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表 2 BESO与LESO实际输入性能指标
Table 2. Performance indexes of BESO and LESO on actual input
J4 $\dfrac{J_{4{\rm{LESO}}}}{J_{4{\rm{BESO}}}} $/% BESO LESO 1.6873 2.2236 131.8
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