小型四旋翼飞行器姿态的自抗扰控制

Attitude Control of Small Quad-Rotors Based on Auto Disturbance Rejection Control Method

针对存在总扰动的小型四旋翼飞行器姿态控制问题,设计一种基于自抗扰技术的四旋翼飞行器姿态控制方法.首先,利用牛顿-欧拉建模方法建立小型四旋翼飞行器动力学系统模型,将其表示成二阶状态空间方程形式.然后,将系统的总扰动扩张为一个新的状态变量,并设计扩张状态观测器对系统总扰动进行估计.最后,在系统扰动估计的基础上设计非线性状态误差反馈控制律.仿真结果表明,所设计控制器对系统总扰动具有很强的鲁棒性能,实现了姿态的快速稳定控制要求.

In this paper, a kind of control method based on active disturbance rejection control technique is proposed for the attitude control of a small quadrotor with total disturbance. Firstly, Newton Euler modeling method is applied to establish the system model of a small quadrotor system, and the model is represented by a two order state space equation. Then, by taking the total disturbance as a new state variable, the extended state observer is designed to estimate the total disturbance. Finally, a nonlinear state error feedback control law is designed on the basis of the disturbance estimation. The simulation results show that the designed controller has strong robust performance for the total disturbance and realizes the fast and stable control of the system attitude.