摘要
针对四旋翼无人机参数不确定性和对外部干扰敏感的问题,提出一种基于线性自抗扰的轨迹跟踪控制系统设计方案。线性自抗扰能够很好地克服无人机的强耦合性、模型不确定性以及外部干扰问题。将四旋翼无人机的轨迹跟踪控制系统分为内外两个环路,内环采用线性自抗扰控制器,外环采用简单的PD控制器。在仿真平台上对线性自抗扰控制系统进行轨迹跟踪实验,并与传统的PID控制系统进行对比分析。通过仿真实验证明,所设计的线性自抗扰控制器不仅能够很好地估计并补偿系统所受内外部干扰,而且对四旋翼无人机参数的不确定性具有较强的鲁棒性,能够满足无人机姿态调节快速和高稳定度的控制要求,性能指标明显优于PID控制器。
A linear active disturbance rejection controller was designed for the trajectory tracking control system of a quad-rotor UAV to reduce the effects of parameter variations and external disturbances.The Linear Active Disturbance Rejection Controller(LADRC)can well overcome the problems of strong coupling,model uncertainty,and external disturbances.In this paper,the quad-rotor UAV trajectory tracking control system is divided into two loops:the outer loop uses a simple PD controller,and the inner loop uses a linear active disturbance rejection controller.The trajectory tracking experiment was performed on the linear active disturbance rejection control system on the simulation platform,and it was compared with the traditional PID control system.Simulation results show that the linear active disturbance rejection controller not only accurately estimates and compensates the internal/external disturbances,but also implements the quad-rotor flight control with robustness under the condition of dynamic parametric uncertainties.The controller meets the design requirements of fast attitude maneuver and high stability,and shows a superior performance to PID controller.
作者
王春阳
姜明瑞
史红伟
WANG Chun-yang;JIANG Ming-rui;SHI Hong-wei(Information Perception and Control Institute,Xi'an Technological University,Xi'an 710021,China;Department of Electronics and Information Engineering,Changchun University of Science and Technology,Changchun 130022,China)
出处
《电光与控制》
CSCD
北大核心
2019年第3期103-107,共5页
Electronics Optics & Control
关键词
四旋翼无人机
线性自抗扰
轨迹跟踪
PD控制器
quad-rotor UAV
linear active disturbance rejection
trajectory tracking
PD controller
