基于自抗扰的四旋翼无人机动态面姿态控制
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摘要
针对四旋翼无人机姿态控制中非线性、强耦合以及对扰动敏感等控制问题,设计了一种基于自抗扰的动态面控制器。与反步控制相比,动态面控制器的设计过程更简单,且利用一阶滤波器来计算虚拟控制信号的导数项,避免了反步控制中的出现的微分膨胀问题。将动态面控制与自抗扰控制相结合,首先利用跟踪微分器可直接获取设定值的微分信号,简化了控制器的设计过程,然后利用扩张状态观测器将系统总扰动实时的补偿到控制器中,提高了系统的鲁棒性和抗干扰能力,并通过Lyapunov直接法对闭环系统进行了稳定性分析。仿真结果表明:本文设计的控制器可保证四旋翼无人机在有外界干扰的情况下能快速、准确地跟踪设定位置。
In order to solve the problems in quad-rotor Unmanned Aerial Vehicle(UAV)system,such as nonlinearity,strong coupling and sensitive to disturbance,a dynamic surface Active Disturbance Rejection Control(ADRC)is proposed.Compared with backstepping contrdler,the design process of the dynamic surface controller is more simple and avoids the problem of differential expansion existing backstepping approach by introducing low-pass first order filter.The combination of dynamic surface control with ADRC possesses several advantages.First,the differential signal of the set point can be obtained directly by using the Tracking Differentiator(TD),so the design process of the controller is simplified.Second,the total disturbance of the system is compensated to the controller in real-time by the Extended State Observer(ESO),so the robustness and anti-interference capacity of the system are improved.The stability of the closed-loop system is analyzed by the Lyapunov's direct method.Simulation results show that,with external disturbance,the designed controller can make the quadrotor track the angle position command more quickly and accurately.
In order to solve the problems in quad-rotor Unmanned Aerial Vehicle(UAV)system,such as nonlinearity,strong coupling and sensitive to disturbance,a dynamic surface Active Disturbance Rejection Control(ADRC)is proposed.Compared with backstepping contrdler,the design process of the dynamic surface controller is more simple and avoids the problem of differential expansion existing backstepping approach by introducing low-pass first order filter.The combination of dynamic surface control with ADRC possesses several advantages.First,the differential signal of the set point can be obtained directly by using the Tracking Differentiator(TD),so the design process of the controller is simplified.Second,the total disturbance of the system is compensated to the controller in real-time by the Extended State Observer(ESO),so the robustness and anti-interference capacity of the system are improved.The stability of the closed-loop system is analyzed by the Lyapunov's direct method.Simulation results show that,with external disturbance,the designed controller can make the quadrotor track the angle position command more quickly and accurately.
引文
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[2]Arthit J,Itthisek N.Quadrotor tuning for attitude control based on double-loop PID control using fictitious reference iterative tuning[C]∥Proceedings of the 2015Annual Conference of the IEEE Industrial Electronics Society,Yokohama,2015:4865-4870.
[3]Parthibi D,Shailaja R K,Raghu R.Robust attitude control of quadrotor using sliding mode[C]∥Proceedings of the 2016International Conference on Automatic Control and Dynamic Optimization Techniques,Pune,2016:268-272.
[4]Djihad M,Oussama G,Foudil A,et al.Quadrotor position and attitude control via backstepping approach[C]∥Proceedings of the 2016International Conference on Modelling,Identification and Control,Algiers,2016:73-79.
[5]Li Cong,Jing Hui,Sun Shan-lin,et al.Robust quadrotor attitude regulation based on fault tolerant control schema[C]∥Proceedings of the 2017Youth Academic Annual Conference of Chinese Association of Automation,Hefei,China,2017:591-596.
[6]Hamid S K,Muhammad B K.Attitude and altitude control of quadrotor by discrete PID control and non-linear model predictive control[C]∥Proceedings of the 2015International Conference on Information and Communication Technologies,Karachi,2015:1-11.
[7]Li Zhi,Ma Xin,Xu Zhi-gang,et al.Chattering free sliding adaptive attitude control for quadrotor[C]∥Proceedings of the 2016IEEE Chinese Guidance,Navigation and Control Conference,Nanjing,China,2016:707-712.
[8]Ivan P,Aleksandar R.Simple fuzzy solution for quadrotor attitude control[C]∥Proceedings of the12th Symposium on Neural Network Application in Electrical Engineering,Belgrade,2014:93-98.
[9]Hadjadj-Aoul W,Mokhtari A,Benallegue A.Asymptotic stabilization of quadrotor helicopter’s attitude using an optimal hierarchical control technique[C]∥Proceedings of the 2014IEEE International Conference on Robotics and Biomimetics, Bali,2014:1709-1713.
[10]Nuraden F,Maarouf S,Hannah M,et al.Robust tracking control for a quadrotor UAV[C]∥Proceedings of the 25th Mediterranean Conference on Control and Automation,Malta,2017:1269-1274.
[11]Han Jing-qing.From PID to active disturbance rejection control[J].IEEE Transactions on Industrial Electronics,2009,56(3):900-906.
[12]Gao Zhi-qiang.Scaling and bandwidth-parameterization based controller tuning[C]∥Proceedings of the 2003 American Control Conference,Denver,2003:4989-4996.
[13]Nuradeen F,Maarouf S,Hannah M,et al.Robust observer-based backstepping controller for a quadrotor UAV[C]∥Proceedings of the 30th Canadian Conference on Electrical and Computer Engineering,Windsor,2017:1-4.
[14]Wang Xue-rao,Lin Xiao-bo,Yu Yao,et al.Backstepping control for quadrotor with BP neural network based thrust model[C]∥Proceedings of the32nd Youth Academic Annual Conference of Chinese Association of Automation, Hefei,China,2017:292-297.
[15]李毅,陈增强,孙明玮,等.离散型自抗扰控制器在四旋翼飞行姿态控制中的应用[J].控制理论与应用,2015,32(11):1470-1477.Li Yi,Chen Zeng-qiang,Sun Ming-wei,et al.Attitude control quadrotor helicopter based on discretetime active disturbance rejection control[J].Control Theory&Applications,2015,32(11):1470-1477.
[16]Jithu G,Jayasree P R.Quadrotor modelling and control[C]∥Proceedings of the 2016International Conference on Electrical,Electronics,and Optimization Techniques,Chennai,2016:1167-1172.
[17]康冰,蔡文波,刘富,等.四旋翼飞行器携带负载稳定飞行算法[J].吉林大学学报:工学版,2019,49(1):1-9.Kang Bing,Cai Wen-bo,Liu Fu,et al.Research on load-stable flight algorithm for quadrotor[J].Journal of Jilin University(Engineering and Technology Edition),2019,49(1):1-9.
[18]Zheng Qing,Dong Li-li,Dae H L,et al.Active disturbance rejection control for MEMS gyroscopes[J].IEEE Transactions on Control Systems Technology,2009,6(17):1432-1438.