四旋翼无人机串级自抗扰控制及参数优化方法

Cascade active disturbance rejection control and parameter optimization method for quadrotor UAV

针对四旋翼无人机飞行中易受外界干扰且控制器参数难以整定优化的问题,提出了一种串级自抗扰控制器及参数优化方法。利用自抗扰控制器对无人机各个状态进行独立控制,将控制器参数整定问题转换为多目标最优化问题,构造关于跟踪误差与控制器输出的适应度函数,并通过教与学(TLBO)算法进行寻优获取最优参数。通过仿真和实验验证,实际飞行的跟踪误差不超过0.1 m,偏航角误差维持在1°的范围内。结果表明所提方法能够快速优化参数,且优化后的控制器具有较好的动态特性和抗干扰能力。

The external disturbance of the quadrotor UAV will have a significant impact on flight control,and the controller parameters are difficult to be tuned and optimized,an improved cascade active disturbance rejection controller(ADRC)and parameter optimization method is proposed.The ADRC is used to control the independent channel of each state of UAV,the parameter tuning problem is transformed into a multi-objective optimization problem,and the fitness function about the tracking error and the controller output is constructed,and the optimization is optimized by teaching and learning(TLBO)algorithm.The numerical simulation and experiment illustrate that the tracking error of actual flight is less than 0.1 meters,and the yaw angle error is maintained within 1 degree.The above results indicate that the proposed method can optimize parameters quickly,and the optimized controller has satisfactory dynamic property and anti-disturbance capability.