带有扰动的无人机分数阶双环抗扰控制

Fractional-order double-loop anti-disturbance control for unmanned aerial vehicles with disturbances

中文关键词  分数阶系统  模型预测控制  滑模控制  抗扰控制  无人机

英文关键词  fractional-order system  model predictive control  sliding mode control  disturbance rejection control  unmanned aerial vehicles

中文摘要

      针对无人机在受到外界干扰时, 控制精度降低的问题, 本文提出了一种基于分数阶的无人机抗扰的双环控 制器, 实现无人机在扰动下的抗扰控制. 首先, 给出了无人机位置子系统的分数阶模型, 通过设计外环Tube-based模 型预测控制器(TMPC), 实现了无人机位置子系统的期望轨迹跟踪控制. 然后, 通过融合PID控制特性, 设计内环分数 阶滑模PID控制器, 实现了姿态子系统对期望姿态角的稳定跟踪与保持. 在一个四旋翼无人机上进行仿真, 并分别 与整数阶Tube-based鲁棒模型预测控制器及整数阶滑模PID控制器进行对比, 基于平均绝对误差(MAE)、均方误差 (MSE)和均方根误差(RMSE) 等指标, 验证了所提出的基于分数阶的双环控制器的有效性.

英文摘要

      To eliminate the decrease of the control performance when unmanned aerial vehicles (UAVs) are subjected to external disturbances, a fractional-order-based dual loop controller for UAVs is proposed, which can realize the anti-disturbance control of UAVs under disturbances. Firstly, the fractional-order model of the position subsystem is given, and by designing the outer-loop Tube-based model predictive controller (TMPC), the desired trajectory tracking control of the position subsystem can be achieved. Then, by fusing the control characteristics of proportional-integral-differential (PID) controller, the inner-loop fractional-order sliding PID controller is designed, with the impact of disturbance, the stable tracking of the attitude subsystem on the desired attitude angle can be realized and maintained. Finally, compared with the integral-order TMPC and sliding PID, respectively, simulation on a quadrotor UAV, which based on the indicators analysis of mean absolute error (MAE), mean square error (MSE) and root mean square error (RMSE), verifies the effectiveness of the proposed fractional-order-based dual-loop controller.