基于极值搜索的四旋翼无人机自抗扰控制

为了提高四旋翼无人机飞行过程中的抗干扰能力,提出了基于极值搜索算法的自抗扰控制技术。首先,建立了四旋翼无人机非线性数学模型;然后,设计了基于极值搜索的自抗扰控制器,对无人机的位置和姿态进行控制;同时,设计扩张状态观测器估计系统内部及外部总扰动,对系统扰动进行补偿。仿真结果表明,所提方法不仅能抑制外界干扰,而且能显著改善飞行控制系统的瞬态性能和稳态性能。

Extremum seeking based active disturbance rejection control for quadrotor UAV

In order to improve the anti-disturbance ability of the quadrotor UAV during flight, an active disturbance rejection control technique based on extremum seeking algorithm is proposed. Firstly, the nonlinear mathematical model of the quadrotor UAV is established. Then, an active disturbance rejection controller based on extremum seeking is designed to control the position and attitude of the UAV, and the extended state observer is designed to estimate and compensate the internal and external disturbances of the system. Simulation results show that the proposed method can not only suppress the external disturbance, but also significantly improve the transient and steady-state performance of the flight control system.