[1]钟海鑫,陆 倩,丘森辉,等.基于ADRC的四旋翼无人机姿态控制研究[J].江西师范大学学报(自然科学版),2017,(01):67-72.
　ZHONG Haixin,LU Qian,QIU Senhui,et al.The Research on Attitude Stability Control of Quadrotor Unmanned Aerial Vehicle Based on ADRC[J].Journal of Jiangxi Normal University:Natural Science Edition,2017,(01):67-72.
点击复制

基于ADRC的四旋翼无人机姿态控制研究()
分享到：

《江西师范大学学报》（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2017年01期
页码:
67-72
栏目:
出版日期:
2017-01-01

文章信息/Info

Title:
The Research on Attitude Stability Control of Quadrotor Unmanned Aerial Vehicle Based on ADRC
作者:
钟海鑫; 陆 倩; 丘森辉; 罗晓曙
广西师范大学电子工程学院,广西 桂林 541004
Author(s):
ZHONG Haixin; LU Qian; QIU Senhui; LUO Xiaoshu
College of Electronic Engineering,Guangxi Normal University,Guilin Guangxi 541004,China
关键词:
自抗扰控制;  四旋翼无人机;  抗扰性;  鲁棒性;  PID控制
Keywords:
active disturbance rejection control;  quadrotor unmanned aerial vehicle;  anti-disturbance;  robustness;  PID control
分类号:
TP 273
文献标志码:
A
摘要:
四旋翼无人机由于受到自身的非线性、模型的不确定性和外部突发气流等的影响,较难完成预设的飞行任务.为此,使用自抗扰控制,通过安排合理的过渡过程减少超调和设计扩张状态观测器来估计总扰动并实时补偿,并实现四旋翼无人机姿态控制.仿真结果表明:相比传统PID控制,该控制方法使得四旋翼无人机能够更好地适应自身参数的变化和应付外部气流带来的影响,具有更好的鲁棒性和抗扰性.同时验证了自抗扰控制器下的系统具有超调小、精度高、收敛速度快、抗扰能力强和鲁棒性能好等特点.
Abstract:
Due to the influences of the nonlinearity,the uncertainty of the mode and sudden external turbulence,the Quadrotor Unmanned Aerial Vehicle(QUAV),generally,cannot complete the preset missions.In order to solve these problems,QUAV attitude stability control is proposed by ADRC,which is the arrangement of a reasonable transition process to reduce the overshoot and the design of Extended State Observer(ESO)to estimate disturbances and compensate them in real time,realizing its attitude control.Simulation results show that compared with the performance of PID control,this control method can better adapt to changes in its parameters and can cope with the impact brought by the external flow preferably and has higher robustness and disturbance rejection.Simulation results show that this control method can better handle with the sudden disturbance.It is also verified that the control system based on ADRC has some characteristics such as small overshoot,high precision,fast rate of convergence,strong anti-disturbance,and good robust performance,etc.

参考文献/References:

[1] Paul G F,Thomas J G.Introduction to UAV systems [M].Columbia,MD:UAV Systems,1998.
[2] Joyo M K,Hazry D,Faiz Ahmed S,et al.Altitude and horizontal motion control of quadrotor UAV in the presence of air turbulence [J].IEEE Conference on Systems,2013,38:74-77.
[3] Tanveer M H,Ahmed S F,Hazry D,et al.Disturbanceand noise rejection controller design for smooth takeoff/landing and altitude stabilization of quad-rotor [J].Journal of Applied Sciences Research,2013,9:3316-3327.
[4] Bouadi H,Bouchoucha M,Tadjine M.Sliding mode control based on backstepping approach for an UAV type-quadrotor [J].International Journal of Applied Mathematics & Computer Sciences,2008(1):22.
[5] Madani T,Benallegue A.Back stepping control for a quadrotor helicopter [C].International Conference on Intelligent Robots and Systems IEEE,2006:3255-3260.
[6] Raza S A,Gueaieb W.Intelligentflight control of an autonomous quadrotor [EB/OL].
[2016-04-11].http://cdn.intechweb.org/pdfs/6587.pdf.
[7] 杨立本,章卫国,黄得刚.基于ADRC姿态解耦的四旋翼飞行器鲁棒轨迹跟踪 [J].北京航空航天大学学报,2015,41(6):1026.
[8] 韩京清.从PID技术到“自抗扰控制”技术 [J].控制工程,2002,9(3):13-17.
[9] 韩京清.控制理论:模型论还是控制论 [J].系统科学与数学,1989,9(4):329-334.
[10] 高志强.自抗扰控制思想探究 [J].控制理论与应用,2013,30(12):1498-1508.
[11] Zheng Qing,Gao Zhiqiang.An energy saving,factory-validated disturbance decoupling control design for extrusion process [C].Beijing:IEEE,2012:2891-2896.
[12] Fliess M,Join C.Model-free control [J].International Journal of Control,2013,86(12):2232-2250.
[13] Huang Yi.Anew synthesis method for high order uncertain system-self stable region approach [J].International Journal of Systems Science,1999,30(1):33-38.
[14] 韩京清.非线性状态误差反馈控制律:NLSEF [J].控制与决策,1995,10(3):221.
[15] 曹宇.无人机非线性自抗扰控制方法研究 [D].哈尔滨:哈尔滨工业大学,2013:18-32.
[16] 李滋刚,万德钧.捷联式惯性导航技术 [M].北京:国防工业出版社,2007.
[17] 余旭东,赵育善.飞行器结构动力学 [M].西安:西北工业大学出版社,1998:149-151.
[18] Bouabdallah S,Siegwart R.Backstepping andsliding-mode techniques applied to an indoor micro quadrotor [C].IEEE International Conference on Robotics & Automation,2005:2247-2252.
[19] 王俊生,马宏绪,蔡文澜,等.基于ADRC的小型四旋翼无人直升机控制方法研究 [J].弹箭与制导学报,2008,28(3):32.
[20] 刘一莎,杨晟萱,王伟.四旋翼飞行器的自抗扰飞行控制方法 [J].控制理论与应用,2015,32(10):2-5.
[21] Fliess M,Join C.Model-free control [J].International Journal of Control,2013,86(12):2229-2250.
[22] 王德爽.基于自抗扰算法的导弹制导系统设计研究 [D].哈尔滨:哈尔滨工程大学,2012:16.
[23] He Yongling,Chen Yanmin,Zhou Minfeng.Modeling and control of a quadrotor helicopter under impact of wind disturbance [J].Journal of Chinese Inertial Technology,2013,21(5):624-630.
[24] 窦景欣,孔祥希,闻邦椿.四旋翼无人机模糊自抗扰姿态控制及稳定性分析 [J].中国惯性技术学报,2015,23(6):824-830.

相似文献/References:

[1]张煌军,徐雪松*,张文清,等.基于SCKF的4旋翼无人机的姿态估计[J].江西师范大学学报(自然科学版),2019,(02):154.[doi:10.16357/j.cnki.issn1000-5862.2019.02.07]
　ZHANG Huangjun,XU Xuesong*,ZHANG Wenqing,et al.The Attitude Measurement Based on SCKF for Quadrotor UAV[J].Journal of Jiangxi Normal University:Natural Science Edition,2019,(01):154.[doi:10.16357/j.cnki.issn1000-5862.2019.02.07]

备注/Memo

备注/Memo:
收稿日期:2016-06-14基金项目:国家自然科学基金(11262004),广西多源信息挖掘与安全重点实验室开放基金(MIMS15-06)和广西信息科学实验中心基金(KA1430)资助项目.通信作者:罗晓曙(1961-),男,湖北应城人,教授,博士,主要从事工业自动化控制、非线性电路理论及非线性系统控制的研究.E-mail:lxs@mailbox.gxnu.edu.cn
更新日期/Last Update: 1900-01-01