基于滑模的外部干扰四旋翼姿态线性自抗扰控制

Linear Active Disturbance Rejection Control for Attitude of Quadrotor With External Disturbances Based Sliding Mode

结合滑模控制(sliding mode control, SMC)和线性自抗扰控制(linear active disturbance rejection control, LADRC)的优点,针对具有外部扰动的四旋翼无人机(unmanned aerial vehicle, UAV)的姿态控制问题,设计了一种SMC和LADRC相结合的控制方案。SMC可以增强控制器的鲁棒性,加快响应速度。利用线性扩展状态观测器(Linear Extended State Observer, LESO)估计系统的内外扰动,PD控制器对扰动进行补偿。此外,为了简化参数设置,在控制器中引入了自适应控制。然后用李雅普诺夫理论证明了系统的稳定性。最后将仿真结果与LADRC的进行了比较,结果表明该方法在具有外部扰动的情况下也能快速有效地跟踪参考输入。

In this paper, a control scheme combining sliding mode control(SMC) and linear active disturbance rejection control(LADRC) is designed for the attitude of quadrotor unmanned aerial vehicle(UAV) with external disturbances, which combines the advantages of both. SMC can enhance the robustness of the controller and speed up the response. The external and internal disturbances of the system are estimated by the linear extended state observer(LESO), and PD controller compensates the total disturbances. In addition, in order to simplify parameter setting, adaptive control is introduced in LADRC. Then the system is proved to be stable by Lyapunov theory. Finally, the simulation results are compared with those of LADRC, and it shows that the proposed scheme can track the reference input quickly and effectively even under external disturbances.