摘要
针对四旋翼飞行器姿态控制中的姿态稳定、姿态跟踪和抑制外部干扰等一系列问题,设计了一种动态面内模输出调节器。在反步设计中引入了动态面控制方法,由于动态面控制法中采用的低通滤波器允许对象数学模型不可微,因此避免了"计算膨胀"。利用内模方法解决系统的渐近跟踪和干扰抑制问题,构造内模时,考虑到不确定性的影响,提出具有误差的内模方程。实验结果表明,所提出的控制方法能够有效实现对四旋翼的姿态跟踪控制,并且可以达到渐近的干扰抑制。
To circumvent a series of problems of quadrotor attitude control,such as attitude stability,attitude tracking and disturbance rejection,a dynamic surface internal mode output regulator is designed. The dynamic surface control( DSC) method was introduced,due to the presence of the low pass filter to avoid the differentiated of virtual control inputs,thus ending the complexity and solving the"explosion of terms"in the back-stepping design. The internal mode method is utilized to achieve the asymptotic tracking and disturbance rejection of the systems. In consideration of the influence of uncertainty,the internal model equation with the error is given. The simulation results indicate that the proposed control method can effectively achieve the attitude control and asymptotic disturbance rejection.
作者
杜梅
高强
吉月辉
DU Mei;GAO Qiang;JI Yue-hui(Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems,Tianjin 300384,China;School of Electrical and Electronic Engineering,Tianjin University of Technology,Tianjin 300384,China)
出处
《计算机仿真》
北大核心
2019年第1期34-38,50,共6页
Computer Simulation
基金
国家自然科学基金(61603274)
关键词
四旋翼飞行器
动态面控制
内模
输出调节
Quadrotor UAV
Dynamic surface control(DSC)
Internal model
Output regulation
