基于扩张状态观测器的反馈线性化无人飞行器姿态控制

Feedback linearization control for UAV attitude control based on Extended state observer

摘要:

随着集成电子等技术逐渐成熟，无人飞行器得到了广泛的关注和应用。其中，由于飞行器在飞行阶段具有高响应速度、耦合动力学和非线性等特点，使其在飞行阶段的姿态控制成为该领域重点研究的方向之一。针对该研究方向，本文提出了一种基于反步法技术的反馈线性化无人飞行器姿态跟踪控制方案来解决其在受到环境干扰的条件下可以精准跟踪姿态角度的问题。在该方法中，设计了反步法技术拆分简化模型和反馈线性化减少调节参数，并利用扩张状态观测器（ESO）来对扰动进行估计和补偿，同时给出了ESO的收敛性和闭环系统的稳定性来证明该方法的可实施性。最后给出了仿真结果，验证了该方法在干扰的环境下仍可以精准控制无人飞行器姿态。

Abstract:

With the development of integrated electronic technology, unmanned aerial vehicle (UAV) has been widely concerned and applied. High response speed, coupling dynamics and nonlinearities of Unmanned earial vehicles makes the attitude control a significant technology. In view of this research direction,this paper proposes a feedback linearization control scheme based on backstepping technology design for attitude tracking control of UAV in the presence of disturbances. In the proposed control design scheme, the back stepping technology is designed to split the simplified model and feedback linearization to reduce the adjustment parameters. Meanwhile,the extended state observer (ESO) is adopted to estimate and compensate for the disturbances. At the same time, the convergence of ESO and the stability of closed-loop system are given to prove the feasibility of the method Then the convergence of ESO and stability of closed-loop system are presented. Finally, simulation results are given to illustrate the effectiveness of the proposed method.