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针对四旋翼无人机提出了一种基于干扰观测器的轨迹跟踪鲁棒控制算法。在外界气流干扰和内部模型参数不确定性的影响下,保证空间位置和偏航角可以快速平滑地跟踪参考信号。对于位置子系统,设计了自适应更新算法,对质量不确定性和气动干扰力进行抑制。设计了一个新颖的非线性干扰观测器,对未知气动干扰力矩进行观测。通过在控制输入中加入干扰力矩的观测值,保证姿态子系统能够以指数收敛速率跟踪中间指令信号。利用Lyapunov理论,证明了整个闭环系统全局渐近稳定。仿真结果表明,该控制器简单有效,对外界干扰具有较强的鲁棒性,同时对负载不确定性也具有自适应能力。
A quadruped rotor UAV based trajectory tracking robust control algorithm based on disturbance observer is proposed. Under the influence of the external air flow disturbance and the uncertainty of the internal model parameters, it is ensured that the spatial position and the yaw angle can track the reference signal quickly and smoothly. For the position subsystem, an adaptive update algorithm is designed to suppress the quality uncertainty and the aerodynamic interference force. A novel nonlinear disturbance observer is designed to observe the unknown aerodynamic disturbance moment. By adding observations of disturbance torque to the control inputs, it is ensured that the attitude subsystem can track the intermediate command signal with exponential convergence rate. Using Lyapunov theory, the global asymptotic stability of the entire closed-loop system is proved. The simulation results show that the controller is simple and effective, robust to external disturbances and adaptable to load uncertainties.