过驱动四旋翼飞行器实验平台姿态跟踪鲁棒控制器的设计与验证

Design and Verification of Attitude Tracking Robust Controller for Overdriven Quadrotor Aircraft Experimental Platform

针对过驱动四旋翼飞行器实验平台的姿态跟踪控制问题进行了研究,该平台存在未知输入扰动且角速度不可测,电机也存在死区及饱和非线性特征。首先,建立了该平台的线性受扰双积分模型。之后,设计了包含比例-积分-微分标称控制器及自适应扩张状态观测器(AESO)的姿态跟踪鲁棒控制器。其中,标称控制器用来保证标称闭环系统渐近稳定,而AESO用来估计实验平台的角速度及扰动信息,以解决无速度测量及扰动抑制问题,并且采用伪逆矩阵法解决了过驱动控制分配问题。此外,构造了辅助系统,以削弱电机死区及饱和非线性特性带来的影响。最后,通过仿真及实验验证了所提控制策略可有效解决电机死区及饱和特性带来的问题,并可同时兼顾闭环系统的瞬态超调和稳态误差性能。

The attitude tracking control problem of an overdriven quadrotor aircraft experimental platform is studied.The platform has unknown input disturbances and angular velocity cannot be measured,and the motor also has dead zone and saturation nonlinear characteristics.First,a linear perturbed double-integral model of the platform is established.Afterwards,an attitude-tracking robust controller including a proportional-integral-derivative nominal controller and an adaptive extended state observer(AESO)is designed.Among them,the nominal controller is used to ensure the asymptotic stability of the nominal closed-loop system,and AESO is used to estimate the angular velocity and disturbance information of the experimental platform to solve the problem of no velocity measurement and disturbance suppression.Moreover,the overdrive control allocation problem is solved by using the pseudo-inverse matrix method.In addition,an auxiliary system is constructed to weaken the influence of the motor’s dead zone and saturated nonlinear characteristics.Finally,the simulation and experiments verify that the proposed control strategy can effectively solve the problems caused by the dead zone and saturation characteristics of the motor,and can simultaneously take into account the transient overshoot and steady-state error performance of the closed-loop system.