具有输入约束和扰动补偿的四旋翼无人机姿态稳定模型预测控制

Predictive Control for Quadrotor UAV Attitude Stabilization Model with Input Constraints and Disturbance Compensation

为了解决四旋翼无人机飞行过程中的姿态控制问题,考虑受到执行器输入约束和外界未知扰动影响,设计了一种具有输入约束和扰动补偿的四旋翼无人机姿态稳定模型预测控制方法;设计简化的四旋翼无人机姿态动力学模型,降低控制器设计的复杂程度,设计带有输入约束的控制器,模拟饱和输入现象,实现饱和输入下的四旋翼姿态稳定控制;设计风扰观测器,实现对外部未知扰动的估计,有效跟踪外部持续扰动,并由此设计扰动补偿律;围绕代价函数设计带有扰动补偿律的最优控制律,作用于四旋翼姿态系统,实现四旋翼无人机姿态的稳定控制;最后进行数值仿真,设置风扰观测器参数λ_(i)为0.25,预测时域N_(p)为10,控制时域N_(c)为9,仿真测试文章方法与不带观测器的非线性预测控制方法(NMPC),验证文章控制方法的有效性和优越性。

In order to solve the problem of attitude control during the flight of quadrotor unmanned aerial vehicles(UAVs),and consider the influence of actuator input constraints and external unknown disturbances,a model predictive control method for quadrotor UAV attitude stability with input constraints and disturbance compensation is designed;the quadrotor UAV attitude dynamics model is simplified to reduce the complexity of controller,design the controller with the input constraints,simulate the saturated input phenomena,and realize the quadrotor attitude stability control under the saturated input;The wind disturbance observation is designed to realize the estimation of external unknown disturbances,effectively track the external continuous disturbances,and implement the disturbance compensation law;it achieves the optimal control law with the disturbance compensation law around the cost function,which applies in the quadrotor attitude system to realize the quadrotor UAV attitude stabilization control;Finally,the numerical simulation results show that the designed method and nonlinear predictive control without observer method(NMPC)are simulated and tested,with a wind disturbance observer parameterλ_(i)of 0.25,prediction time domain N_(p)of 10,and control time domain N_(c)of 9,it verifies the effectiveness and superiority of the control method.