| 四旋翼飞行器的非线性PID姿态控制 |
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| 引用本文： | 宿敬亚,樊鹏辉,蔡开元.四旋翼飞行器的非线性PID姿态控制[J].北京航空航天大学学报,2011,37(9):1054-1058. |
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| 作者姓名： | 宿敬亚 樊鹏辉 蔡开元 |
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| 作者单位： | 北京航空航天大学自动化科学与电气工程学院,北京,100191;北京航空航天大学自动化科学与电气工程学院,北京,100191;北京航空航天大学自动化科学与电气工程学院,北京,100191 |
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| 摘 要： | 针对四旋翼飞行器的非线性姿态运动动力学模型,设计了一种新的几乎全局稳定的非线性PID (Proportional Integral Derivative) 姿态控制器.该控制器由一个线性PID的控制部分和一个惯性力矩补偿部分组成,可以抑制常值干扰和幅值有界且能量有界的干扰.数字仿真验证了该控制器对干扰的抑制作用.在搭建的姿态控制实验平台上进行了定点姿态跟踪控制实验.实验结果显示俯仰角和滚转角的误差均小于1°,验证了该控制器对小角度控制的有效性和对未建模动态的鲁棒性.
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| 关 键 词： | 姿态控制 非线性比例积分微分 四旋翼飞行器 |
| 收稿时间： | 2010-05-04 |
Attitude control of quadrotor aircraft via nonlinear PID |
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| Su Jingya Fan Penghui Cai Kaiyuan.Attitude control of quadrotor aircraft via nonlinear PID[J].Journal of Beijing University of Aeronautics and Astronautics,2011,37(9):1054-1058. |
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| Authors: | Su Jingya Fan Penghui Cai Kaiyuan |
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| Institution: | School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
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| Abstract: | Based on the nonlinear attitude dynamic and kinematic model of a quadrotor aircraft,an almost globally stabilizing nonlinear proportional integral derivative(PID) attitude controller was developed.The proposed controller consists of a linear PID feedback and a compensation of inertia torques,and can reject the external disturbances consisting of not only a constant term but also a bounded and square-integrable term.Simulation results show the effectiveness on disturbances rejection.Experiments of set-point ... |
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| Keywords: | attitude control nonlinear proportional integral derivative quadrotor aircraft |
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