基于NESO-LFDC的四旋翼无人机滑模姿态控制

doi:10.12305/j.issn.1001-506X.2024.03.34

Abstract

Abstract:

To deal with the complex aerodynamic characteristics and easy characteristics in the attitude control of quadrotor unmanned aerial vehicle, a nonsingular fast terminal sliding mode control scheme based on nonlinear extended state observer (NESO) and low-frequency disturbance compensator (LFDC) is proposed. In this method, NESO and LFDC are combined in the inner loop to obtain the disturbance compensation value and compensate the low-frequency component of the total disturbance. A non-singular fast terminal sliding mode controller with tracking differentiator and variable switching gain is designed in the outer ring to compensate the virtual disturbance estimation error and the high frequency component of the total disturbance. Simulation results show that the proposed control scheme can better estimate the low and high frequency components of the total disturbance, reduce the impact of the error of the virtual disturbance estimation on the attitude control of the quadrotor unmanned aerial vehicle, and improve the response speed.

Key words: quadrotor unmanned aerial vehicle, attitude control, nonlinear extended state observer (NESO), tracking differentiator, low-frequency disturbance compensator (LFDC), nonsingular fast terminal sliding mode control

CLC Number:

TP273

Yang GUI, Bochao ZHENG, Peng GAO. Sliding mode attitude control of quadrotor UAV based on NESO-LFDC[J]. Systems Engineering and Electronics, 2024, 46(3): 1075-1083.

Figures/Tables 12

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References 30

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参数	取值
m/kg	0.2
l/m	0.2
J_xx/(kg·m²)	0.003 83
J_yy/(kg·m²)	0.003 67
J_zz/(kg·m²)	0.007 32

姿态角	k₁	k₂	k₃	k₄	τ	ξ	q	p
ϕ	0.2	0.2	40	70	0.8	3	7	5
θ	0.2	0.2	40	70	0.8	3	7	5
ψ	0.2	0.2	40	70	0.8	3	9	7

姿态角	α	ε	k_w	λ	δ	r₀	h
ϕ	$\frac{5}{3}$	0.05	10	0.3	50	500	0.001
θ	$\frac{5}{3}$	0.05	10	0.3	50	500	0.001
ψ	$\frac{5}{3}$	0.05	10	0.3	50	500	0.001

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Sliding mode attitude control of quadrotor UAV based on NESO-LFDC

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