四旋翼无人机滑模自抗扰控制

Sliding Mode Active Disturbance Rejection Control of Quadrotor Unmanned Aerial Vehicle

针对四旋翼无人机易受到非线性、多目标以及控制量受限和其他不确定性因素干扰的影响,本文基于自抗扰控制和滑模控制设计了一种滑模自抗扰控制器。在被控对象姿态角速度未知的情况下,该控制器采用扩张状态观测器对无人机的姿态角速度和未知干扰进行观测;再将估计的姿态角速度和干扰用于控制器的反馈和控制量的补偿;最后利用Lyapunov理论证明控制系统的稳定性。仿真结果表明,本文设计的滑模自抗扰控制器可以保证观测误差的快速收敛,实现被观测量的高精度估计;在姿态角速度未知的情况下,仍可保持稳定的姿态控制。

In this paper, a sliding mode active disturbance rejection controller is designed based on active disturbance rejection control and sliding mode control for quadrotor unmanned aerial vehicle, which is susceptible to nonlinearity, multiple targets, limit of control and other disturbance of uncertainties. Considering the unknown attitude angle velocity of the controlled targets, the controller can observe the attitude angular velocity and unknown interference of UAV by designing the extended state observer. The estimated angular velocity is used for the feedback of controller, meanwhile the observed disturbance compensates the amount of control. Based on Lyapunov theory, the stability of the control system is proved. The simulation results show that sliding mode active disturbance rejection controller can guarantee the fast convergence of the observed error, realize the high accuracy estimation of the observed amount, and continue to keep a stable attitude control without the angular velocity feedback.