基于NESO-LFDC的四旋翼无人机滑模姿态控制

doi:10.12305/j.issn.1001-506X.2024.03.34

摘要/Abstract

摘要：

针对四旋翼无人机姿态控制中存在空气动力学特性复杂, 易受干扰的特性, 提出一种基于非线性扩张状态观测器(nonlinear extended state observer, NESO)和低频干扰补偿器(low-frequency disturbance compensator, LFDC)的非奇异快速终端滑模控制方法。该方法内环设计了NESO和LFDC结合, 以获得干扰补偿值并补偿总干扰的低频分量。在外环设计了跟踪微分器和可变切换增益的非奇异快速终端滑模控制器, 用于补偿虚拟干扰估计值的误差和总干扰的高频分量。仿真结果表明, 该控制方法可以更好地估计总干扰的低频和高频分量, 减少虚拟干扰估计值的误差对四旋翼无人机姿态控制的影响, 并提升响应速度。

关键词: 四旋翼无人机, 姿态控制, 非线性扩张状态观测器, 跟踪微分器, 低频干扰补偿器, 非奇异快速终端滑模控制

Abstract:

To deal with the complex aerodynamic characteristics and easy characteristics in the attitude control of quadrotor unmanned aerial vehicle, a nonsingular fast terminal sliding mode control scheme based on nonlinear extended state observer (NESO) and low-frequency disturbance compensator (LFDC) is proposed. In this method, NESO and LFDC are combined in the inner loop to obtain the disturbance compensation value and compensate the low-frequency component of the total disturbance. A non-singular fast terminal sliding mode controller with tracking differentiator and variable switching gain is designed in the outer ring to compensate the virtual disturbance estimation error and the high frequency component of the total disturbance. Simulation results show that the proposed control scheme can better estimate the low and high frequency components of the total disturbance, reduce the impact of the error of the virtual disturbance estimation on the attitude control of the quadrotor unmanned aerial vehicle, and improve the response speed.

Key words: quadrotor unmanned aerial vehicle, attitude control, nonlinear extended state observer (NESO), tracking differentiator, low-frequency disturbance compensator (LFDC), nonsingular fast terminal sliding mode control

中图分类号:

TP273

桂洋, 郑柏超, 高鹏. 基于NESO-LFDC的四旋翼无人机滑模姿态控制[J]. 系统工程与电子技术, 2024, 46(3): 1075-1083.

Yang GUI, Bochao ZHENG, Peng GAO. Sliding mode attitude control of quadrotor UAV based on NESO-LFDC[J]. Systems Engineering and Electronics, 2024, 46(3): 1075-1083.

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参数	取值
m/kg	0.2
l/m	0.2
J_xx/(kg·m²)	0.003 83
J_yy/(kg·m²)	0.003 67
J_zz/(kg·m²)	0.007 32

姿态角	k₁	k₂	k₃	k₄	τ	ξ	q	p
ϕ	0.2	0.2	40	70	0.8	3	7	5
θ	0.2	0.2	40	70	0.8	3	7	5
ψ	0.2	0.2	40	70	0.8	3	9	7

姿态角	α	ε	k_w	λ	δ	r₀	h
ϕ	$\frac{5}{3}$	0.05	10	0.3	50	500	0.001
θ	$\frac{5}{3}$	0.05	10	0.3	50	500	0.001
ψ	$\frac{5}{3}$	0.05	10	0.3	50	500	0.001

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