摘要
设计了一个四旋翼飞行系统,提出了一种自抗扰控制方法,解决了该飞行系统的姿态控制问题.将显性互补滤波器与扩张状态观测器相结合,实现了对系统的状态与内外总扰动的实时估计,并在此基础上利用非线性误差反馈控制律对该扰动进行了补偿,消除了内外扰动对系统的影响.最后,分别采用PID与ADRC算法实现四旋翼的姿态控制,对比结果验证了所采用的自抗扰控制方法的有效性和优越性.
In this paper, a small scale quadrotor is designed, and an active distur- bance rejection control method is proposed to solve the attitude control problem. The explicit complementary filtering method is combined with the extended state observer to estimate the state and the sum of internal and external disturbance of the system, the nonlinear state error feedback control law is then used upon this to compensate this disturbance and eliminate the influence of internal and external interference on the system. Attitude control experiments by using PID and ADRC methods are car- ried out on the same prototype. The comparison results of the experiments show the effectiveness and superiority of the ADRC method.
作者
陆群
刘衍志
张文安
俞立
LU Qun LIU Yanzhi ZHANG Wenan YU Li(College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023)
出处
《系统科学与数学》
CSCD
北大核心
2016年第10期1524-1534,共11页
Journal of Systems Science and Mathematical Sciences
基金
国家自然科学基金(61273117)
浙江省自然科学基金重点项目(LZ15F030003)资助课题
关键词
小型四旋翼飞行器
自抗扰控制
扰动补偿
姿态控制
Small scale quadrotors； active disturbance rejection control； disturbancecompensation； attitude control
