引用本文:吴琛,苏剑波.四旋翼飞行器的轨迹跟踪抗干扰控制[J].控制理论与应用,2016,33(11):1422~1430.[点击复制]
WU Chen,SU Jian-bo.Trajectory tracking of quadrotor based on disturbance rejection control[J].Control Theory and Technology,2016,33(11):1422~1430.[点击复制]
四旋翼飞行器的轨迹跟踪抗干扰控制
Trajectory tracking of quadrotor based on disturbance rejection control
摘要点击 3939  全文点击 2331  投稿时间：2016-03-04  修订日期：2016-08-15
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DOI编号  10.7641/CTA.2016.60117
  2016,33(11):1422-1430
中文关键词  四旋翼飞行器  轨迹跟踪控制  非匹配不确定性  扩张状态观测器  切换函数  滑模控制
英文关键词  quadrotor aircraft  trace tracking control  mismatched uncertainties  extended state observer  switching function  sliding mode control
基金项目  国家自然科学基金项目(61533012, 61521063)资助.
作者单位E-mail
吴琛 上海交通大学 wuchensjtu@126.com 
苏剑波* 上海交通大学 jbsu@sjtu.edu.cn 
中文摘要
      针对四旋翼飞行器轨迹跟踪问题中系统存在模型不确定和易受到外界扰动的情况, 提出了基于切换函数 的扩张状态观测器设计方法来对系统中的扰动进行估计, 并将估计值与滑模控制器的设计相结合, 实现了对系统中 非匹配不确定性和匹配不确定性的抑制且实现了系统跟踪误差的一致最终有界. 首先, 根据变量间的耦合关系将 飞行器系统模型分解为两个子系统模型, 设计扩张状态观测器对子系统中的非匹配不确定性进行估计, 并将估计值 作为变量加入到切换函数的设计中; 进而基于切换函数设计扩张状态观测器以估计经切换函数重构系统中的扰动, 并在控制器中对扰动进行补偿. 最后通过李雅普诺夫理论证明了控制系统的稳定性. 通过仿真验证了本文提出的 方法能够有效实现飞行器轨迹跟踪控制且能够抑止传统滑模控制的抖振现象.
英文摘要
      This paper studies trace tracking control problem of quadrotor aircraft. To deal with the model uncertainties and external disturbances in quadrotor flying process, a novel sliding mode control based on extended state observer is proposed. System uncertainties are depressed and trace tracking errors are uniformly ultimately bounded under the proposed control law. Firstly, system model is divided into two subsystem models according to the coupling relationship between state variables. Extended state observers are designed to estimate mismatched uncertainties in the subsystem, and estimated values are added into switching function. Disturbances in the reconstructed system are observed by extended state observers designed based on the switching function, and they are rejected in the controller design procedure. Finally, system stability is proven through Lyapunov theory. The simulation results demonstrate the efficiency of the proposed control scheme for quadrotor trace tracking and the efficiency for depressing chattering phenomenon.