基于参数估计的四旋翼无人机自适应鲁棒路径跟随控制器

doi:10.12382/bgxb.2021.0444

摘要/Abstract

摘要： 为提高四旋翼无人机的路径跟随精度和飞行鲁棒性，提出一种基于参数估计的四旋翼无人机自适应鲁棒路径跟随控制器。该控制器能够自适应估计无人机模型中的陀螺效应因子和风阻系数，利用估计值补偿系统的控制输入，设计抗干扰项抵消外界环境的负面影响，提高了四旋翼无人机的路径跟随性能和抗干扰能力。建立四旋翼无人机的非线性力学模型，将无人机的路径跟随目标划分为姿态角目标和运动位置目标。利用反步滑模方法和自适应控制方法设计无人机的控制输入方程和估计值更新律。根据Lyapunov方法验证无人机姿态系统和运动位置系统的渐进稳定性。仿真实验和样机实验结果验证了所提控制器的有效性与优越性。

关键词: 四旋翼无人机, 自适应鲁棒, 路径跟随, 反步滑模

Abstract: To improve the path following accuracy and flight robustness of quadrotor UAVs, an adaptive robust path following controller based on parameter estimation is proposed. The controller can adaptively estimate the gyroscopic factors and drag coefficients for the UAV model, compensate the system’s control input based on estimated values, and offset the negative impact of the external environment with an anti-interference capacity. The controller can effectively improve the path following and anti-interference performance of quadrotor UAVs. First, a nonlinear mechanical model of a quadrotor UAV is established. Second, the path following targets for UAVs are divided into attitude angle targets and moving position targets. Third, the backstepping sliding mode method and adaptive control method are used to design the control input equation and the estimation updating law of the UAV. Simultaneously, the asymptotic stability of the UAV attitude system and motion position system is verified by applying the Lyapunov method. Lastly, the effectiveness and superiority of the proposed controller are verified by simulation and experiments.

Key words: quadrotorUAV, adaptiverobust, pathfollowing, backsteppingslidingmode

中图分类号:

TP273

修杨，邓宏彬，危怡然，李东方. 基于参数估计的四旋翼无人机自适应鲁棒路径跟随控制器[J]. 兵工学报, 2022, 43(8): 1926-1938.

XIU Yang, DENG Hongbin, WEI Yiran, LI Dongfang. Adaptive Robust Path Following Controller for Quadrotor UAVs Based on Parameter Estimation[J]. Acta Armamentarii, 2022, 43(8): 1926-1938.

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