具有输入死区与扰动的四旋翼无人机自抗扰控制

ADRC Control of the Quadrotor UAV with Input Dead Zone and Disturbances

研究了具有输入死区与扰动的四旋翼无人机的姿态控制问题。由于输入死区普遍存在于四旋翼无人机的执行机构,并且易受到扰动的影响。针对具有输入死区与扰动的四旋翼无人机系统,设计基于自抗扰的动态面控制器。采用自抗扰控制算法设计扩张状态观测器估计系统的总扰动,采用动态面方法设计控制律。所设计的控制器使四旋翼无人机实现对期望姿态角跟踪。仿真结果验证了该方案的有效性。

This study investigates the attitude control of a quadrotor unmanned aerial vehicle(UAV)class with dead zone and external disturbances.Since the input dead zone is typically located in the actuator of quadrotor UAVs and is easily affected by disturbance,we design a dynamic surface controller using an active disturbance rejection controller(ADRC)for a quadrotor UAV with dead zone and external disturbances.The ADRC algorithm was used to design the extended state observer to estimate the total disturbance of the system.Furthermore,the dynamic surface method was used to design the control law.The designed controller guarantees that the attitude of the quadrotor UAV can track the desired attitude.Finally,simulation results verified the effectiveness of the proposed method.