具有输入约束和扰动补偿的四旋翼无人机姿态稳定模型预测控制

Model Predictive Control for Quadrotor UAV Attitude Stability with Input Constraints and Disturbance Compensation Under Input Saturation

摘要:

为了解决四旋翼无人机飞行过程中的姿态控制问题，考虑受到执行器输入约束和外界未知扰动影响，设计了一种具有输入约束和扰动补偿的四旋翼无人机姿态稳定模型预测控制方法；设计简化的四旋翼无人机姿态动力学模型，降低控制器设计的复杂程度，设计带有输入约束的控制器，模拟饱和输入现象，实现饱和输入下的四旋翼姿态稳定控制；设计风扰观测器，实现对外部未知扰动的估计，有效跟踪外部持续扰动，并由此设计扰动补偿律；围绕代价函数设计带有扰动补偿律的最优控制律，作用于四旋翼姿态系统，实现四旋翼无人机姿态的稳定控制；最后进行数值仿真，设置风扰观测器参数λi为0.25，预测时域Np为10，控制时域Nc为9，仿真测试本文方法与不带观测器的非线性预测控制方法（NMPC），验证本文控制方法的有效性和优越性。

Abstract:

In order to solve the problem of attitude control during the flight of quadrotor UAV, considering the influence of actuator input constraints and external unknown disturbances, a model predictive control method for quadrotor UAV attitude stability with input constraints and disturbance compensation is designed; Design a simplified quadrotor UAV attitude dynamics model to reduce the complexity of controller design, design a controller with input constraints, simulate saturated input phenomena, and realize quadrotor attitude stability control under saturated input; design wind disturbance observation The controller can realize the estimation of the external unknown disturbance, effectively track the external continuous disturbance, and design the disturbance compensation law based on this; design the optimal control law with the disturbance compensation law around the cost function, and act on the quadrotor attitude system to realize the quadrotor without Stability control of man-machine attitude; finally, numerical simulation is carried out, the wind disturbance observer parameter λi is set to 0.25, the prediction time domain Np is 10, the control time domain Nc is 9, and the simulation test is carried out between the method in this paper and the nonlinear predictive control without observer method (NMPC) to verify the effectiveness and superiority of the control method in this paper.