一种建模不确定性的四旋翼无人机鲁棒跟踪控制

Robust Tracking Control of a Quad-rotor UAV Via Model Uncertaines

针对四旋翼无人机Qball2模型中的不确定性问题,本文提出了一种鲁棒H∞跟踪控制器.首先,基于四旋翼无人机Qball2模型,选择合适的参考模型得到X通道、Y通道、Z通道误差系统;接着,针对外部扰动设计鲁棒H∞状态反馈跟踪控制器跟踪参考轨迹;然后,根据李雅普诺夫稳定性定理得到使X通道、Y通道、Z通道闭环系统渐进稳定且满足H∞性能指标的LMI充分条件,同时给出了控制器增益的求解方法.最后,与内外环鲁棒反馈控制器进行对比仿真,结果验证了所提出方法的有效性和优越性.

In this paper,a robust H_∞tracking control strategies for a quad-rotor unmanned aerial vehicle( UAV) with uncertainties are put forward based on Qball2 model. Firstly,through selecting appropriate reference models,X channel、Y channel and Z channel error models are established by the Qball2 model. Next,the robust H_∞feedback control methods are designed to reject the disturbance and track the desired trajectory. Then,according to Lyapunov stability theory,the LMI-based sufficient conditions of asymptotic stability for X channel,Y channel and Z channel systems are derived. At the same time,the H_∞performance indexes are both satisfied. Meanwhile,the gain matrices of controller are presented. Finally,through comparison with the inner and outer loop H_∞controllers,the effectiveness and advantages of the proposed method are verified.