未知初始跟踪条件的无人机自抗扰预设有限时间控制

Active disturbance rejection preset finite-time control for a UAV with unknown initial tracking condition

四旋翼无人机在飞行时的初始状态极易受到未知的外界干扰,影响其飞行稳定性。本文采用一种与初始跟踪条件无关的预设性能控制设计方法,解决四旋翼无人机在初始跟踪状态未知时的预设性能控制器设计问题。基于该方法,将自抗扰技术、预设性能控制和有限时间控制等在设计过程中有机结合,设计无人机的自抗扰预设性能有限时间跟踪控制器,同时保证四旋翼无人机在未知初始跟踪状态下的暂态、稳态和抗干扰性能。仿真结果验证了控制方法的有效性。

The initial state of a quadcopter UAV during flight is often unknown and highly susceptible to external interference,which affects the flight stability of UAV.By using a preset performance control design method without dependence on initial tracking conditions,the problem to design preset performance controller of the quadcopter UAV system with unknown initial tracking condition is solved.Based on this control method,an active disturbance rejection preset performance finite-time tracking controller is obtained by combining active disturbance rejection technology,preset performance control with finite-time control in the design process.The designed controller can guarantee the transient,steady and anti-interference performance of the quadcopter UAV system at the same time.The simulation results show the effectiveness of the proposed control method.