一种基于串级线性自抗扰控制的四旋翼无人机控制方法

提出了一种基于串级线性自抗扰控制器的四旋翼无人机控制方法。根据建立的紊流模型形成了干扰风，在干扰风的环境下建立了四旋翼的运动学模型，并设计了一个串级的线性自抗扰控制器，其中外环采用位置控制，内环采用姿态控制。对比了该控制器与非线性自抗扰控制器和经典PID控制器在无风干扰和有风干扰下无人机的定点悬停的性能。仿真试验结果表明，无论是在无风干扰下还是在有风干扰下，该控制器的性能均好于非线性自抗扰控制器和PID控制器，具有较好的鲁棒性，能够运用到各种类型的旋翼无人机的工程控制中。

A Control Method for Quadrotor Based on Cascade Linear Active Disturbances Rejection Controller

A control method forquadrotor is proposed based on cascade linear active disturbances rejection control. the disturbance wind is formed according to the established turbulence model; secondly, the kinematic model of four rotors is established under the disturbance wind environment; then, a cascade linear active disturbances rejection controller is designed according to the kinematic model, in which the outer ring adopts position control and the inner ring adopts attitude control. At last, the performance of the controller is compared with that of the nonlinear active disturbance rejection controller and the classical PID controller. The simulation results show that with or without wind disturbance, the performance of the controller is better than that of the nonlinear active disturbance rejection controller and PID controller, and it has better robustness, and can be applied to the engineering control of the various types of rotorcraft.