基于扩张状态观测器的四旋翼无人机飞行控制系统研究

微特电机 ›› 2022, Vol. 50 ›› Issue (1): 41-44.

基于扩张状态观测器的四旋翼无人机飞行控制系统研究

曾子元,李云桓

中国人民解放军海军装备部驻广州地区局军事代表局驻贵阳地区军事代表室,贵阳 550009

出版日期:2022-01-28 发布日期:2022-02-17

Research on Filght Control System of Quadrotor UAV Based on Extended State Observer

ZENG Ziyuan, LI Yunhuan

Military Representative Office of PLA Naval Equipment Department in Guiyang, Affiliated to Guangzhou Military Representative Bureau, Guiyang 550009, China

Online:2022-01-28 Published:2022-02-17

摘要/Abstract

摘要： 针对四旋翼飞行器的不确定和非线性控制问题,分析了非线性、强耦合和欠驱动等系统特性,同时基于非线性动态逆方法,进行四旋翼飞行器控制系统姿态和航迹控制研究。通过扩张状态观测器实现了对无人机的强干扰及参数摄动的精度补偿。仿真实验验证了它的有效性。

关键词: 四旋翼飞行器, 扩张观测器设计, 非线性动态逆

Abstract: In view of the uncertain and nonlinear control problems of the quadrotor aircraft, the nonlinear factors, strong coupling and under actuated system features were studied. The attitude control system and track controller of quadrotor aircraft were designed subsequently based on the nonlinear dynamic inversion methods. The extended state observer was used for solving the strong interference of unmanned aerial vehicle and enhancing the precision of parameter perturbation compensation. The effectiveness of the method was verified by simulation experiments.

Key words: quadrotor aircraft, extended state observer, nonlinear dynamic inversion

中图分类号:

TM301

曾子元,李云桓. 基于扩张状态观测器的四旋翼无人机飞行控制系统研究[J]. 微特电机, 2022, 50(1): 41-44.

ZENG Ziyuan, LI Yunhuan. Research on Filght Control System of Quadrotor UAV Based on Extended State Observer[J]. Small & Special Electrical Machines, 2022, 50(1): 41-44.

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