基于滑模观测补偿的四旋翼飞行器鲁棒动态逆控制

doi:10.3969/j.issn.1001-506X.2018.01.18

系统工程与电子技术 ›› 2018, Vol. 40 ›› Issue (1): 119-126.doi: 10.3969/j.issn.1001-506X.2018.01.18

基于滑模观测补偿的四旋翼飞行器鲁棒动态逆控制

陈诚¹, 韦常柱¹, 琚啸哲^1, 刘鹏云²

1. 哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001; 2. 北京控制与电子技术研究所, 北京 100038

出版日期:2018-01-08 发布日期:2018-01-08

Robust dynamic inversion control for quad-rotors unmanned vehicle based on sliding mode disturbance observation and compensation

CHEN Cheng¹, WEI Changzhu¹, JU Xiaozhe¹, LIU Pengyun²

1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China; 2. Beijing institute of Control and Electronic Technology, Beijing 100038, China

Online:2018-01-08 Published:2018-01-08

摘要/Abstract

摘要：

四旋翼飞行器为欠驱动形式,其模型存在强耦合、大不确定性的特征,需设计具有强抗扰和强鲁棒能力的控制器以提升四旋翼飞行性能。首先建立包含结构参数不确定性的四旋翼飞行器动力学模型,分析其特性并基于时标分离原则进行模型的双回路划分。利用小角度假设对模型进行线性化处理并求取模型的状态空间表达形式,给出满足不确定性区间内稳定控制要求的鲁棒控制律,并采用Lyapunov理论进行控制律的全局收敛性证明。为增强控制器的抗扰性,利用Super-twisting算法设计了滑模干扰观测器对外部扰动进行观测并予以补偿。仿真结果表明,所设计的基于滑模观测补偿的鲁棒动态逆控制器在应对较大结构不确定性和外部扰动情况具有良好的控制品质。

Abstract:

The model of quad-rotors is of under-actuation, strong coupling and large uncertainty, thus a controller of strong robustness and anti-jamming capability should be proposed to enhance the flight performance of quad-rotors. Firstly a dynamic model of quad-rotors containing structural uncertainty is deduced, which is separated into double loops based on time-scale separation after detailed analysis on its dynamical characteristic. Then linearization with assumption of small Euler angles helps derive a state space dynamic model. Considering stabling the quad-rotors under any possible structural uncertainty, a robust control law is given and its global convergence is proved through the Lyapunov theory. For the improvement of flight performance against external disturbance, we design a sliding-mode disturbance observer on the basis of the super-twisting algorithm so as to observe the perturbation and make compensation. Simulations under the condition of large structural uncertainty and external disturbance validate better control performance of the proposed controller.

陈诚, 韦常柱, 琚啸哲, 刘鹏云. 基于滑模观测补偿的四旋翼飞行器鲁棒动态逆控制[J]. 系统工程与电子技术, 2018, 40(1): 119-126.

CHEN Cheng, WEI Changzhu, JU Xiaozhe, LIU Pengyun. Robust dynamic inversion control for quad-rotors unmanned vehicle based on sliding mode disturbance observation and compensation[J]. Systems Engineering and Electronics, 2018, 40(1): 119-126.

基于滑模观测补偿的四旋翼飞行器鲁棒动态逆控制

Robust dynamic inversion control for quad-rotors unmanned vehicle based on sliding mode disturbance observation and compensation

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