适应扰动的无人直升机姿态跟踪控制

Adaptive attitude-tracking control for unmanned helicopter with disturbances

中文关键词  无人直升机  扰动估计  自抗扰反步控制器  飞行实验

英文关键词  unmanned helicopter  disturbance estimation  active disturbance rejection backstepping control  flight experiment

中文摘要

      无人直升机在实际飞行过程中, 会受到阵风等外界因素的干扰, 并且模型不确定性也会对控制效果带来不 利影响. 为应对这些挑战, 本文设计了一种基于扩张状态观测器的自抗扰反步控制器. 首先, 建立了无人直升机姿 态动力学模型. 随后, 引入扩张状态观测器, 用以实时观测由外界扰动和模型不确定性组成的总和扰动. 观测得到 的总和扰动估计值与基于Lyapunov函数的反步法控制器控制算法相结合, 用以消除总和扰动的影响, 使得无人直升 机在各种飞行条件下均能对运动指令进行快速和准确的跟踪. 最后, 仿真研究和飞行实验验证了该控制律的有效 性. 与同等条件下的PID控制器相比, 该控制律表现出更优的飞行性能.

英文摘要

      An active disturbance rejection backstepping control approach based on extended state observer is proposed to deal with the problem of environmental disturbances and model uncertainties of an unmanned helicopter during its practical flight. The approach begins with building an unmanned helicopter attitude dynamic model. Then, the real-time extended state observer is adopted to estimate composite disturbances which include both environmental disturbances and model uncertainties. The estimated results are integrated with the Lyapunov-based backstepping control algorithm to make the unmanned helicopter achieve the rapid and accurate tracking of the motion command in various flight conditions by compensating the composite disturbances. Finally, simulation and experimental results are presented to demonstrate the effectiveness of the control law, and the flight performance is obviously superior to the PID control in the same condition.