基于扩张状态观测器的四旋翼积分滑模反步控制

Backstepping Controller Based on Integral Sliding Mode Controller for Quadrotor with Extended State Observer

针对四旋翼路径跟踪控制问题,研究了基于扩张状态观测器(extended state observer,ESO)、积分滑模控制器(integral sliding mode controller,ISMC)及反步法(backstepping)的四旋翼控制算法。构造了一种考虑姿态控制器响应过程的无人机控制模型;设计了扩张状态观测器对扰动进行观测,并构建了积分滑模控制器以估计扰动观测误差;设计了基于反步法的抗干扰路径跟踪控制算法,利用扩展状态观测器估计的扰动信息,通过补偿方式较好地消除了扰动影响。仿真试验表明,该方法具有良好的轨迹跟踪性能和抗干扰能力。

For the quadrotor path tracking control problem,a quadrotor path tracking algorithm based on an extended state observer(ESO),an integral sliding mode controller(ISMC)and the backstepping technique was studied.A unmanned aerial vehicle control model was constructed,which included the attitude controller response process.Then ESO was designed to observe the disturbance,and an integral sliding mode controller was constructed to estimate the disturbace observation error.Using the obtained estimation,the backstepping technique was taken into consideration for building the path-tracking controller to resist the disturbances.The effectiveness of the proposed algorithm is demonstrated by simulations with a good trajectory tracking performance and anti-disturbance ability.