基于自抗扰理论的小型四旋翼飞行器姿态控制

Attitude Control of Small Quad-rotor Based on Active Disturbance Rejection Control Theory

针对四旋翼飞行器的强耦合性、非线性、易受外界干扰等控制难点,研究利用自抗扰控制器对四旋翼飞行器进行姿态控制的技术问题。通过牛顿-欧拉方程建立四旋翼飞行器动力学模型,将不确定性、耦合及参数摄动等干扰作为"总和干扰",利用扩张状态观测器进行估计并动态反馈补偿,再利用非线性反馈抑制补偿残差,进行四旋翼飞行器姿态控制仿真实验。结果表明:在存在模型参数摄动和外界扰动的情况下,扩张状态观测器很好地实时估计和补偿了四旋翼飞行器的总和干扰,基于自抗扰的四旋翼飞行器姿态控制系统具有较好的动态品质、稳态精度以及较强的鲁棒性。

To solve the attitude control problem of small quad-rotor according to its complex coupling ,non-linear and serious internal/external disturbance feature ,a control scheme based on active disturbance rejection control technique is proposed .The dynamic model is established with Newton-Euler equations ,and the uncertainty , coupling and parameter perturbation are considered as total disturbance .Extended state observer is used to esti-mate and compensate the total disturbance .The non-linear state error feedback is used to restrain the compen-sate error ,and did simulation experiment of attitude control for small quad-rotor .The result of the simulation shows that the extended state observer of the active disturbance rejection control technique can estimate/com-pensate disturbance well under circumstance of parameter perturbation and disturbance .The attitude controller based on active disturbance rejection control theory shows good dynamic quality ,steady-state accuracy and strong robustness .