基于双观测器的四旋翼无人机姿态控制

为了提高四旋翼无人机姿态控制精度及抗干扰性能,将干扰观测器与扩张状态观测器相结合,提出了一种基于双观测器的滑模抗干扰控制方法.首先,对于部分已知信息的干扰用外生系统模型描述,并用干扰观测器进行估计;然后针对复杂的非线性可微干扰采用扩张状态观测器进行估计;接着设计滑模控制律来补偿双观测器估计的干扰,进而实现姿态控制;最后利用李雅普诺夫理论证明了系统的稳定性.仿真结果表明,该方法相较于传统的PID控制具有更高的跟踪精度和良好的抗干扰能力.

Attitude control of quad-rotor UAV based on dual observers

In order to improve the attitude control accuracy and anti-disturbance performance of the quad-rotor UAV,the disturbance observer and the extended state observer are combined,and a sliding mode anti-disturbance control approach based on dual observers is proposed.First,the disturbance with part of the known information is described by the exogenous system model and estimated by the disturbance observer;then the extended state observer is used for the estimation of the complex nonlinear differentiable disturbance;then a sliding mode control law is designed to compensate for the disturbance estimated by the dual observers to achieve attitude control;finally,the stability of the system is proved by the Lyapunov theory.The simulation results show that this method has higher tracking accuracy and better anti-disturbance ability than traditional PID control.