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针对欠驱动四旋翼飞行器提出了一种基于扩张状态观测器(ESO)和反步法的轨迹跟踪控制策略.在外界环境干扰和系统参数摄动等不确定性的影响下,保证空间位置和偏航角可以快速平滑地跟踪给定信号.根据系统严格反馈的结构特点,采用反步法设计内外环路的控制器;为避免控制过程中的复杂计算,采用ESO对系统的复合干扰进行在线实时估计,并在控制律中进行实时补偿;为避免反步控制导致的“微分爆炸”问题,减小对系统模型的依赖性,采用了动态面策略,以及为提高系统的鲁棒性,引入了滑模面.稳定性分析表明闭环控制系统是全局渐进稳定的.仿真结果验证了所提控制方法的有效性和鲁棒性.
A trajectory tracking control strategy based on extended state observer (ESO) and backstepping method is proposed for under-driven quadrotor.Under the influence of uncertainties such as external environment disturbance and system parameter perturbation, the space position and bias Angle can be quickly and smoothly track a given signal.According to the structural characteristics of strict feedback system, the use of back-loop design of internal and external loop controller; In order to avoid the control process of complex calculations, the use of ESO on the system of complex interference online real-time In order to avoid the “differential explosion” problem caused by backstepping control and reduce the dependence on the system model, the dynamic face strategy is adopted. In order to improve the robustness of the system, The sliding surface is introduced.The stability analysis shows that the closed-loop control system is globally asymptotically stable.The simulation results verify the effectiveness and robustness of the proposed control method.