基于RGPI观测器的四旋翼无人机抗风扰控制

RGPI Observer-Based Control for Wind Disturbance Rejection of Quadrotor UAV

四旋翼无人机在飞行过程中易受风扰影响,导致姿态产生偏离和振荡,传统PID控制方法难以取得良好的控制效果。为了提高四旋翼无人机的抗风扰性能,提出一种基于降阶广义比例积分观测器(RGPIO)的四旋翼无人机抗风扰控制方法。将RGPIO与比例控制技术相结合,构成复合控制器,并通过Hurwitz稳定性判据证明该复合控制器的稳定性。为验证所提方法的有效性,设计了比较实验,将所提方法与传统的PID控制方法进行比较,实验结果证明了所提控制方法能够有效抑制风扰。

Quadrotor UAVs are susceptible to wind disturbance during flight, which can cause deviation and oscillation in attitude. In this case, traditional PID control methods are difficult to achieve good performance. In order to improve the anti-wind performance of the quadrotor UAV,a reduced generalized proportional integral observer(RGPIO) based control method for wind disturbance rejection of quadrotor UAV is proposed. This paper combines RGPIO with the proportional control technology to form a compound controller, and proves the stability of the compound controller through the Hurwitz stability criterion. To verify the effectiveness of the proposed method, comparative experiments were designed to compare the proposed method with the traditional PID control method. The experimental results prove that the proposed method can effectively suppress wind disturbance.