四轴飞行器串级ADRC轨迹跟踪控制

Trajectory tracking control for quadrotor based on cascaded ADRC

四轴飞行器是一个欠驱动系统,具有非线性、强耦合、易受干扰等特点,为此本文设计了一种串级自抗扰控制器(ADRC),并采用改进粒子群算法进行控制器参数自整定。串级ADRC的外环为位置控制环,内环为姿态角控制环。为避免外环产生的高频信号噪声不利于内环控制,外环采用线性ADRC,而内环采用非线性ADRC。Simulink仿真结果表明,该方法对四轴飞行器轨迹跟踪具有良好的控制效果,并能有效抑制外部干扰。

Quadrotor is a typical underactuated system with such characteristics as non-linearity,strong coupling and susceptibility to disturbance. Therefore,a cascaded controller based on active disturbance rejection control (ADRC) technology is designed and an improved particle swarm algorithm is used for the controller’ s parameter self-tuning. The outer loop of cascaded ADRC controls the quadrotor’s position coordinates,and the inner one controls its attitude angles. To prevent the high-frequency signal noise caused by the outer loop from disturbing the inner-loop control,the outer and inner loops adopt linear and non-linear ADRC,respectively. Simulation results by Simulink software prove that the proposed method has good control performance in quadrotor trajectory tracking and can suppress external interference effectively.