微型飞行器的自抗扰控制器设计

Active Disturbance Rejection Control for Micro Aerial Vehicle

摘要:

微型飞行器具有高度的非线性特性,且气动参数具有不确定性,难以建立精确的数学模型；为实现其姿态、速度、以及高度的精确鲁棒控制,基于自抗扰控制方法设计了微型飞行器速度回路和高度回路的控制器;首先建立了微型飞行器的非线性模型,然后利用扩张状态观测器对飞行器状态和气动不确定性因素进行了估计,并通过非线性反馈对模型不确定性部分和状态耦合进行补偿,实现了纵向通道的解耦控制;通过仿真对所设计的控制器进行性能验证,结果表明自抗扰控制器能够实现对微型飞行器的快速稳定控制,且不依赖于精确的飞行器数学模型,具有良好的鲁棒性。

Abstract:

The micro aerial vehicle's (MAV) dynamic is nonlinear; in addition, due to the uncertainty aerodynamic parameters of MAV, it is difficult to establish the accurate mathematical model. So, controllers of altitude and velocity tracking is designed with the active disturbance rejection control (ADRC) algorithm aiming to achieve the high quality control of MAV'attitude, velocity, and altitude. In the first place, the nonlinear model of the MAV is established. Then, the vehicle's state and uncertainty factors is estimated by the extended state observer; the uncertainty parts and state coupling is compensated with the nonlinear feedback. Thus, the decoupling control of longitudinal channel was implemented. Finally, there is a simulation in order to demonstrate the performance of the designed controller , the result shows that the proposed ADRC control law can improve the robust performance of the system, and the effects is independent of the accurate mathematical model.