基于自抗扰的无人机俯仰姿态控制

Pitch Attitude Control for UAV Based on ADRC

针对无人机俯仰姿态控制回路在模型参数和复杂外界环境等不确定性干扰影响下鲁棒性差、系统响应速度慢的问题,采用工程上易实现的自抗扰控制(ADRC)方法设计了俯仰姿态控制器,通过构造线性扩张状态观测器(LESO)估计不确定性干扰,并在控制回路中对干扰进行实时补偿。性能分析与仿真结果表明,基于ADRC的无人机俯仰姿态控制器具有良好的性能和干扰抑制能力,并且能够实现对控制指令的精确跟踪。

Considering the poor robustness and slow response for the UAV pitch attitude control loop brought by the uncertainties of the model parameters and complex external environment,an active disturbance rejection control(ADRC)method is used to design pitch attitude controller.This method is easy to be implemented in engineering.The linear extended state observer(LESO)is used to estimate the unknown disturbance precisely,which can be compensated in real time.The analysis and simulation results show that the UAV pitch attitude controller based on ADRC can achieve good performance and ability against disturbance,and the pitch attitude control loop can track the control command precisely.