具有负载不确定性的四旋翼配平与控制

Trim and Control of Quadrotors Subject to Load Uncertainties

针对具有负载不确定性的四旋翼配平与控制问题,提出了一种基于高增益观测器的配平与控制方法,在质心位置无法测量的情况下将四旋翼的质心调节至几何中心处,并保证配平过程中姿态控制误差的收敛性。首先,将四旋翼的质心位置看作一个不可测的状态,建立具有负载不确定性的四旋翼数学模型;然后,设计高增益观测器对负载不确定性进行实时估计,提出了一种基于高增益观测器的配平控制器与姿态控制器;最后,采用李雅普诺夫方法证明了整个闭环系统的稳定性。仿真实验和物理实验的结果表明,该方法可以同时保证配平控制与姿态控制的收敛性,四旋翼配平后可提高飞行的安全性并降低能耗。

To realize the trim and control of quadrotors subject to load uncertainties,a trim and control method based on a high-gain observer is proposed in this paper.The centroid of the quadrotor is adjusted to the geometric center when the position of the centroid cannot be measured.At the same time,the convergence of attitude control error is ensured during trimming.Firstly,the centroid position of the quadrotor is regarded as an unmeasurable state,and the mathematical model of the quadrotor with load uncertainties is established.Then,a high-gain observer is designed to estimate the load uncertainties in real time,and a trim controller and an attitude controller based on the high-gain observer are proposed.Finally,the stability of the entire closed-loop system is proved by the Lyapunov method.The results of simulation experiments and physical experiments show that the proposed method can ensure the convergence of both trim control and attitude control,and the trim of the quadrotor can improve flight safety and reduce energy consumption.