摘要
为提高多旋翼无人机姿态控制器的鲁棒性和调参简易性,提出了一种自适应调参的无人机自抗扰姿态控制器。采用一阶惯性模型、扩张状态观测器和四阶线性微分跟踪器来设计反步姿态控制律。仿真和实际飞行结果表明,控制器大多数情况下只需调节b参数,初始控制b参数比实际参数大10倍都不会导致姿态控制发散,证明了此姿态控制器的鲁棒性和实用性。
In order to improve the robustness and ease of parameter adjustment of the multi-rotor UAV attitude controller,an ADRC attitude controller based on the batch gradient descent algorithm was proposed.A first-order inertial model,an extended state observer and a fourth-order linear differential tracker are used to design the backstepping attitude control law.The simulation and actual flight results show that the controller only needs to adjust the b parameter in most cases,and the initial control b param⁃eter is 10 times larger than the actual parameter without causing the attitude control divergence,which proves the robustness and practicability of this attitude controller.
作者
任开众
徐胜
苏成悦
陈元电
Ren Kaizhong;Xu Sheng;Su Chengyue;Chen Yuandian(School of Information Engineering,Guangdong University of Technology,Guangzhou 510006;School of Physics and Optoelectronic Engineering,Guangdong University of Technology,Guangzhou 510006)
出处
《现代计算机》
2022年第8期93-99,共7页
Modern Computer
基金
倾转四旋翼无人机飞行控制关键技术研究(201804010384)。
关键词
多旋翼无人机
姿态控制器
自抗扰控制
multi-rotor UAVs
attitude controller
auto disturbance rejection control
