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高阶微分反馈控制及在四旋翼飞行器中的应用

李霞,齐国元,郭曦彤,赵旭   

  1. 天津工业大学
  • 收稿日期:2021-07-02 修回日期:2021-08-26 出版日期:2021-09-06 发布日期:2021-09-06
  • 通讯作者: 齐国元
  • 基金资助:
    国家自然科学基金

High-Order differential feedback control and its application in quadrotor UAV

  • Received:2021-07-02 Revised:2021-08-26 Online:2021-09-06 Published:2021-09-06
  • Supported by:
    National Natural Science Foundation of China

摘要: 高阶微分反馈控制是不依赖系统精确模型的控制策略,采用控制滤波器间接补偿系统的未知模型。但其中的高阶微分器没有用来估计系统的未知模型函数,采用的是间接补偿未知模型函数方案。本文改进了高阶微分器,将控制输入引入其中,既能实时估计非线性模型中的未知函数,也能估计系统输出及参考输入的微分信息。对比分析了改进的高阶微分器和扩张状态观测器所估计的未知函数的收敛性,证明前者的型别比后者高一个类型。应用估计的微分和模型函数设计了新的高阶微分反馈控制算法,该方案能够抑制未知扰动,并成功地应用于四旋翼飞行器姿态系统的控制。应用Lyapunov函数从理论上证明了闭环系统的稳定性。在基于Pixhawk的控制测试平台实验中,分别采用改进的高阶微分反馈控制、PID控制、自抗扰控制和传统的高阶微分反馈控制方案,测试四旋翼飞行器对不同参考姿态的跟踪性能和抗扰性能。结果表明,所提出的改进高阶微分反馈控制方案,在暂态性能,稳态跟踪精度和抗干扰鲁棒性方面,大幅度优越于其他方案。

关键词: 四旋翼飞行器, 姿态系统, 高阶微分器, 扩张状态观测器, 不依赖模型控制, 未知模型函数估计, 自抗扰控制

Abstract: The high-order differential feedback controller is a control scheme not depending on the precise model of the system. It indirectly compensates for the system unknown model function through a control filter. However, the high-order dif-ferentiator has not been used to estimate the system unknown model function that is indirectly compensated. In this paper, the improved high-order differentiator is proposed by introducing control input information. It can estimate the unknown functions in nonlinear models and the differential information of system output and reference input in real-time. The convergence of the unknown model functions estimated by the improved high-order differentiator and the extended state observer is compared and analyzed. It is proved that the type of the former is one higher than that of the latter. A novel high-order differential feedback control algorithm is designed using the estimated differential and model functions, suppressing unknown disturbance and successfully controlling the quadrotor attitude system. Lya-punov-based stability analysis is presented to prove the stability of the closed-loop system. In the control test platform experiment based on the Pixhawk, the proposed improved high-order differential feedback control, PID control, active disturbance rejection control and the traditional high-order differential feedback control scheme are adopted respec-tively to test the quadrotor tracking performance and disturbance rejection ability for different reference. The results show that the proposed improved high-order differential feedback control scheme is significantly superior to other schemes in transient performance, steady-state tracking accuracy and robustness.

Key words: quadrotor UAV, attitude system, high-order differentiator, extended state observer, model-free control, unknown model function estimation, active disturbance rejection control

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