无人驾驶飞行器姿态非线性扰动抑制控制.PDF

第xx 卷第x 期 控制 理 论 与 应 用 Vol. xx No. x xxxx 年x 月 Control Theory Applications Xxx. xxxx DOI: 10.7641/CTA.201x.xxxxx 无无无人人人驾驾驾驶驶驶飞飞飞行行行器器器姿姿姿态态态的的的非非非线线线性性性扰扰扰动动动抑抑抑制制制控控控制制制 黄廷国, 王璐, 苏剑波 (上海交通大学自动化系, 系统控制与信息处理教育部重点实验室, 上海200240) 摘要:本文研究了无人驾驶飞行器(unmanned aerial vehicle,UAV)的姿态跟踪控制问题. 针对在飞行器姿态跟踪时 存在的系统模型不确定性和外界扰动, 提出了一种基于四元数的姿态跟踪控制方法, 基于UAV 的姿态误差模型分别 设计系统的观测器和控制器. 首先, 以四元数为姿态参数建立系统的非线性误差模型; 在此基础之上, 设计一种非 线性干扰观测器(nonlinear disturbance observer, NDOB)用以在线估计误差模型中的复合扰动, 并在控制输入端进行 相应的补偿. 然后通过设计非线性广义预测控制律设镇定误差系统, 实现姿态跟踪. 最后基于频域理论分析了非线 性干扰观测器的扰动抑制性能. 仿真与实验结果表明本文提出的方法在系统存在复合扰动的情况下能使系统姿态 有效的跟踪期望值. 关键词: 无人驾驶飞行器; 姿态跟踪控制; 四元数; 非线性广义预测控制律; 非线性干扰观测器 中图分类号: TP273 文献标识码: A The nonlinear disturbance rejection control of UAV attitude HUANG Ting-guo, WANG Lu, SU Jian-bo (Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240) Abstract: In this paper, the attitude tracking control problem of the unmanned aerial vehicle (UAV) is investigated. To deal with the model uncertainty and external disturbance, we propose a attitude tracking control method, based on the attitude error model, the controller and observer is designed respectively. Firstly, according to the attitude dynamics of the servo system, with quaternion as attitude parameters, the nonlinear error model is established. After that, the nonlinear disturbance observer (NDOB) is employed to online estimate the unknown compound disturbance and make compensation to the control input. Then, a nonlinear generalized predictiv