摘要
针对四旋翼飞行器的不确定和非线性控制问题,分析了非线性、强耦合和欠驱动等系统特性,同时基于非线性动态逆方法,进行四旋翼飞行器控制系统姿态和航迹控制研究。通过扩张状态观测器实现了对无人机的强干扰及参数摄动的精度补偿。仿真实验验证了它的有效性。
In view of the uncertain and nonlinear control problems of the quadrotor aircraft,the nonlinear factors,strong coupling and under actuated system features were studied.The attitude control system and track controller of quadrotor aircraft were designed subsequently based on the nonlinear dynamic inversion methods.The extended state observer was used for solving the strong interference of unmanned aerial vehicle and enhancing the precision of parameter perturbation compensation.The effectiveness of the method was verified by simulation experiments.
作者
曾子元
李云桓
ZENG Ziyuan;LI Yunhuan(Military Representative Office of PLA Naval Equipment Department in Guiyang,Affiliated to Guangzhou Military Representative Bureau,Guiyang 550009,China)
出处
《微特电机》
2022年第1期41-44,50,共5页
Small & Special Electrical Machines
关键词
四旋翼飞行器
扩张观测器设计
非线性动态逆
quadrotor aircraft
extended state observer
nonlinear dynamic inversion
