基于扰动观测器的四旋翼无人机自适应姿态控制方法

Adaptive Attitude Control Method of Quadrotor Based on Disturbance Observer

针对四旋翼无人机携带未知质量载荷对机体姿态控制带来的影响,提出了一种基于扰动观测器的自适应控制方法。该四旋翼无人机在携带未知质量载荷时的动力学模型,针对未知质量载荷对四旋翼无人机造成的干扰,设计了扰动观测器并基于此提出了一种自适应姿态控制器。使用Lyapunov方法证明了该控制器的稳定性。同时,在四旋翼无人机上携带一个未知质量的载荷,分别使用自适应控制器和反步控制器控制四旋翼无人机姿态来进行对比实验,验证控制器的有效性。

For the effect of a quadrotor carrying a payload with unknown mass on the attitude control of the airframe,this paper proposes an adaptive control method based on a perturbation observer.This paper first introduces the dynamics model of the quadrotor when carrying a payload of unknown mass,and then designs a perturbation observer and proposes an adaptive attitude controller for the disturbance caused by the payload of unknown mass to the quadrotor.The stability of this controller is demonstrated in the paper using the Lyapunov method.Finally,the effectiveness of the controller is verified by carrying a payload of unknown mass on the quadrotor and using the adaptive controller and the backstepping controller to control the quadrotor attitude for comparison experiments,respectively.