基于全阶观测器的无人机系统抗干扰控制
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摘要
为探讨无人机系统抗干扰控制问题,利用T-S模糊模型描述非线性干扰,并设计全阶观测器分别观测外部干扰和无人机系统的状态,通过设计反馈控制器,实现了对干扰的有效估计和抑制,基于Lyapunov分析方法的无人机系统具有良好的稳定性和鲁棒性.仿真试验验证了算法的可行性与有效性.
In this paper, an anti-disturbance control algorithm is discussed for unmanned aerial vehicle(UAV) systems. Based on the T-S fuzzy model, a full-order disturbance observer is designed to observe the state of external disturbance and the unmanned aerial vehicle systems. Furthermore, designing the feedback controller can effectively estimate and suppress the disturbance. The UAV systems can be guaranteed to have good stability and robustness based on the Lyapunov analysis method. Finally, simulations for an unmanned aerial vehicle model are given to verify the feasibility and effectiveness of this algorithm.
In this paper, an anti-disturbance control algorithm is discussed for unmanned aerial vehicle(UAV) systems. Based on the T-S fuzzy model, a full-order disturbance observer is designed to observe the state of external disturbance and the unmanned aerial vehicle systems. Furthermore, designing the feedback controller can effectively estimate and suppress the disturbance. The UAV systems can be guaranteed to have good stability and robustness based on the Lyapunov analysis method. Finally, simulations for an unmanned aerial vehicle model are given to verify the feasibility and effectiveness of this algorithm.
引文
[1] YI Yang,ZHENG Weixing,SUN Changyin,et al.DOB fuzzy controller design for non-Gaussian stochastic distribution systems using two-step fuzzy identification [J].IEEE Trans Fuzzy Syst 2016,24(2):401-418.
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[5] CAO Wenjun,Xu Jianxin.Nonlinear integral-type sliding surface for both matched and unmatched systems [J].IEEE Trans Autom Contr,2004,49(8):1355-1360.
[6] GUO Lei,CHEN Wenhua.Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach [J].Int J Robust Nonlinear Control,2005,15(3):109-125.
[7] YAO Xiuming,GUO Lei.Composite anti-disturbance control for Markovian jump nonlinear systems via disturbance observer [J].Automatic,2013,49(8):2538-2545.
[8] LI Hongyi,GAO Yabin,WU Ligang,et al.Fault detection for T-S fuzzy time-delay systems:delta operator and input-output methods [J].IEEE Trans Cybern,2015,45(2):229-241.
[9] DING Baocang.Dynamic output feedback predictive control for nonlinear systems represented by a Takagi-Sugeno model [J].IEEE Trans Fuzzy Syst,2011,19(5):831-843.
[10] DUCARD G J J.Fault-tolerant flight control and guidance systems [M].London:Springer,2009.
[2] van der SCHAFT A J.L2-gain analysis of nonlinear systems and nonlinear state feedback H∞control [J].IEEE Trans Autom Control,1992,37(6):770-784.
[3] WANG Fang,ZOU Qin,ZONG Qun.Robust adaptive backstepping control for an uncertain nonlinear system with input constraint based on Lyapunov redesign [J].Int J Control Autom Syst 2017,15(1):212-225.
[4] CHANG J L.Dynamic output integral sliding-mode control with disturbance attenuation [J].IEEE Trans Autom Contr,2009,54(11):2653-2658.
[5] CAO Wenjun,Xu Jianxin.Nonlinear integral-type sliding surface for both matched and unmatched systems [J].IEEE Trans Autom Contr,2004,49(8):1355-1360.
[6] GUO Lei,CHEN Wenhua.Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach [J].Int J Robust Nonlinear Control,2005,15(3):109-125.
[7] YAO Xiuming,GUO Lei.Composite anti-disturbance control for Markovian jump nonlinear systems via disturbance observer [J].Automatic,2013,49(8):2538-2545.
[8] LI Hongyi,GAO Yabin,WU Ligang,et al.Fault detection for T-S fuzzy time-delay systems:delta operator and input-output methods [J].IEEE Trans Cybern,2015,45(2):229-241.
[9] DING Baocang.Dynamic output feedback predictive control for nonlinear systems represented by a Takagi-Sugeno model [J].IEEE Trans Fuzzy Syst,2011,19(5):831-843.
[10] DUCARD G J J.Fault-tolerant flight control and guidance systems [M].London:Springer,2009.