基于IBS和LADRC的四旋翼飞行器轨迹跟踪控制
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摘要
首先对四旋翼进行了力学分析并建立了六自由度的数学模型,然后针对四旋翼数学模型的欠驱动及强耦合特性,提出了基于积分反步(IBS)和线性自抗扰(LADRC)相结合的控制方法对四旋翼进行轨迹跟踪控制。首先将整个控制分为外环位置控制和内环姿态角控制,针对外环位置控制的欠驱动特性,采用适用于欠驱动系统并且结构清晰的IBS控制方法,针对存在严重耦合的内环姿态角控制,则采用了具有抗耦合作用的LADRC控制策略,仿真实验证明了该方法能实现四旋翼的轨迹跟踪。
A mechanical analysis is made to the quad-rotor aircraft?and a mathematical model of 6 degree-of-freedom is established.Then?on the account of the underactuation and strong coupling characteristics of the quad-rotor mathematical model?a control method based on integral backstepping(IBS) and Linear Active Disturbance Rejection Controller(LADRC) is proposed for trajectory tracking and controlling of the quad-rotor aircraft.Firstly?the whole control process is divided into outer-loop position control and inner-loop attitude angle control.Then?for the under-actuated outer-loop position control?the IBS control method adaptable for under-driven system is used;as to the seriously coupled inner-loop attitude angle control?the LADRC control strategy with anti-coupling effect is adopted.The result of experimental simulation shows that the method can realize the trajectory tracking of the quad-rotor aircraft.
A mechanical analysis is made to the quad-rotor aircraft?and a mathematical model of 6 degree-of-freedom is established.Then?on the account of the underactuation and strong coupling characteristics of the quad-rotor mathematical model?a control method based on integral backstepping(IBS) and Linear Active Disturbance Rejection Controller(LADRC) is proposed for trajectory tracking and controlling of the quad-rotor aircraft.Firstly?the whole control process is divided into outer-loop position control and inner-loop attitude angle control.Then?for the under-actuated outer-loop position control?the IBS control method adaptable for under-driven system is used;as to the seriously coupled inner-loop attitude angle control?the LADRC control strategy with anti-coupling effect is adopted.The result of experimental simulation shows that the method can realize the trajectory tracking of the quad-rotor aircraft.
引文
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[21] 邵立伟,廖晓钟,夏元清,等.三阶离散扩张状态观测器的稳定性分析及其综合[J].信息与控制,2008?37(2):135-139.
[2] 郑明贵,陈艳红.世界稀土资源供需现状与中国产业政策研究[J].有色金属科学与工程,2012?3(4):70-74.
[3] JAFARI H?ZAREH M?ROSHANIAN J?et al.An optimal guidance law applied to quadrotor using LQR method[J].Transactions of the Japan Society for Aeronautical & Space Sciences?2010?53(179):32-39.
[4] MOKHTARI A?BENALLEGUE A?BELAIDI A.Polynomial linear quadratic Gaussian and sliding mode observer for a quadrotor unmanned aerial vehicle[J].Journal of Robotics and Mechatronics?2005?17(4):483- 495.
[5] GUERRERO-CASTELLANOS J F?TéLLEZ-GUZMáN J J?DURAND S?et al.Event-triggered nonlinear control for attitude stabilization of a quadrotor[C]//International Conference on Unmanned Aircraft Systems (ICUAS)? IEEE?2013:584-591.
[6] ZHAO S L?AN H L?ZHANG D B?et al.A new feedback linearization LQR control for attitude of quadrotor[C]//The 13th International Conference on Control Automation Robotics & Vision (ICARCV)?IEEE?2014:1593-1597.
[7] 赵元伟,卢京朝.四旋翼飞行器的建模及基于反步法的控制[J].科学技术与工程,2013?13(34):10425-10430.
[8] 周克良,李德福,聂丛楠,等.基于可变论域模糊PID的汽车烘房温控系统[J].江西理工大学学报,2017? 38(3):68-74.
[9] JIA Z Y?YU J Q?MEI Y S?et al.Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances[J].Aerospace Science and Technology?2017?68:299-307.
[10] YOUNES Y A?DRAK A?NOURA H?et al.Quadrotor position control using cascaded adaptive integral backstepping controllers[C]//Applied Mechanics & Materials? 2014:98-106.
[11] 甄红涛,齐晓慧,夏明旗,等.四旋翼无人机块控反步姿态控制器设计[J].电光与控制,2013?20(10):87-91.
[12] 王大伟,高席丰.四旋翼无人机滑模轨迹跟踪控制器设计[J].电光与控制,2016?23(7):55-58.
[13] MNASRI C?GASMI M.LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems[J].International Journal of Applied Mathematics and Computer Science?2011?21(4):605-615.
[14] 侯明冬,刘金琨,田杰.欠驱动四旋翼飞行器全局轨迹跟踪滑模控制[J].控制工程,2016,23(6):928-932.
[15] 窦立谦,芦飞.基于ESO和反步法的四旋翼飞行器轨迹跟踪控制[J].天津大学学报:自然科学与工程技术版,2017?50(5):500-506.
[16] 韩京清.自抗扰控制器及其应用[J].控制与决策,1998?13(1):19-23.
[17] 王俊生,马宏绪,蔡文澜,等.基于 ADRC 的小型四旋翼无人直升机控制方法研究[J].弹箭与制导学报,2008?28(3):31-34.
[18] 刘一莎,杨晟萱,王伟.四旋翼飞行器的自抗扰飞行控制方法[J].控制理论与应用,2015?32(10):1-10.
[19] 杨立本,章卫国,黄得刚.基于 ADRC 姿态解耦的四旋翼飞行器鲁棒轨迹跟踪[J].北京航空航天大学学报,2015?41(6):1026-1033.
[20] SALAZAR-CRUZ S?ESCARENO J?LARA D?et al.Embedded control system for a four-rotor UAV[J].International Journal of Adaptive Control and Signal Processing?2007?21(2/3):189-204.
[21] 邵立伟,廖晓钟,夏元清,等.三阶离散扩张状态观测器的稳定性分析及其综合[J].信息与控制,2008?37(2):135-139.