基于自抗扰控制技术的实时飞行仿真研究(英文)

Real- time Simulation of Flight Control System Based on ADRC Technique

针对四旋翼无人机欠驱动、强耦合的非线性动力学特性,文中研究设计了基于自抗扰控制技术的闭环飞行控制系统。自抗扰控制技术中,扩张观测器与基于误差的非线性反馈控制是其重要的两个部分。扩张状态观测器估计外部干扰和模型不确定性,以实现干扰和模型不确定性的动态补偿;此外,采用基于误差的非线性反馈可以改善控制效果。为保证飞行任务中精确的航迹跟踪,文中分析设计了一种实用的制导策略,并构建实时可视化飞行仿真系统以实现对所设计的制导策略和自抗扰飞行控制系统更为严格有效的验证。仿真结果表明所研究设计的制导策略和闭环飞行控制系统具有良好的制导和控制性能。

The under-actuated, strongly coupled and nonlinear dynamics of quadrotor UAV （Un- manned Aerial Vehicle） is taken into consideration, for which the closed-loop control design based onith the disturbances and uncertai ADRC （Active Disturbance Rejection Control） technique is investigated. ADRC benefits from its ESO （extended state observer） to cope wnties. Furthermore, the nonlinear feedback control grounded on ESO upgrades the performance of the closed-loop system. Last but not least, the real-time and visual simulation is conducted to validate the effectiveness of the proposed flight control system based on ADRC technique as well as the guidance algorithm that is developed to realize a precise flight trajectory along the scheduled path. Results show that desirable control and trajectory tracking performances have been achieved for the quadrotor UAV system.