[1]董洋洋,夏泽群,王永滨,等.基于改进 ESO 的反馈线性化四旋翼无人机姿态控制[J].机械与电子,2023,41(12):31-37.
　DONG Yangyang,XIA Zequn,WANG Yongbin,et al.Feedback Linearization Attitude Control of Quadrotor UAV Based on Improved ESO[J].Machinery & Electronics,2023,41(12):31-37.
点击复制

基于改进 ESO 的反馈线性化四旋翼无人机姿态控制()
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年12期
页码:
31-37
栏目:
自动控制与检测
出版日期:
2023-12-30

文章信息/Info

Title:
Feedback Linearization Attitude Control of Quadrotor UAV Based on Improved ESO
文章编号:
1001-2257 ( 2023 ) 12-0031-07
作者:
董洋洋 1 ; 夏泽群 1 ; 王永滨 1; 2 ; 张子建 1
1. 南京航空航天大学航天学院,江苏 南京 210016 ;
2. 北京空间机电研究所,北京 100194
Author(s):
DONG Yangyang1 ;  XIA Zequn1 ;  WANG Yongbin1 ;  2 ;  ZHANG Zijian1
( 1.College of Astronautics , Nanjing University of Aeronautics and Astronautics , Nanjing 210016 , China ;
2.Beijing Institute of Space Mechanicsand Electricity , Beijing 100194 , China )
关键词:
四旋翼无人机; 自抗扰控制; 姿态控制; 改进 ESO
Keywords:
quadrotor UAV ;  active disturbance rejection control ( ADRC );  attitude control ;  improved extended state observer ( ESO )
分类号:
TP242
文献标志码:
A
摘要:
针对四旋翼飞行器非线性、强耦合的特性以及存在建模误差和未知扰动下姿态控制问题,提出了一种改进自抗扰控制方案。利用反馈线性化方法将无人机姿态动力学模型转化为线性模型,减少了小扰动假设带来的系统误差;改进了扩张状态观测器( ESO )的结构,使其能同时利用角度和角速度的测量信息,提高了其对时变扰动的估计精度;基于改进 ESO 完成了自抗扰控制器的设计并证明了该控制系统的稳定性。仿真实验结果表明,基于改进 ESO 的自抗扰控制器具有更强的抗干扰性和鲁棒性。
Abstract:
Aiming at the nonlinear and strong coupling characteristics of quadrotor aircraft , as well as the attitude control problems with modeling errors and unknown disturbances , an improved active disturbance rejection control scheme is proposed.The feedback linearization method is used to convert the attitude dynamics model of unmanned aerial vehicles into a linear model , reducing the system error caused by small disturbance assumptions ; the structure of the extended state observer ( ESO ) is improved so that it can simultaneously use the measurement information of angle and angular velocity to improve its estimation accuracy for time-varying disturbances ; based on the improved ESO , the design of an active disturbance rejection controller was completed and the stability of the control system was demonstrated.The simulation experimental results show that the self-disturbance rejection controller based on improved ESO has strong anti-jamming and robustness.

参考文献/References:

[ 1 ] ZHU G Q , WANG S , SUN L F , et al.Output feedback adaptive dynamic surface sliding-mode control for quadrotor UAVs with tracking error constraints [ J ] . Complexity , 2020 , 2020 : 1-23.

[ 2 ] TAYEBI A , MCGILVRAY S.Attitude stabilization of a VTOL quadrotor aircraft [ J ] .IEEE Transactions on control systems technology , 2006 , 14 ( 3 ): 562-571.
[ 3 ] RUNCHAROON K , SRICHATRAPIMUK V.Sliding mode control of quadrotor [ C ]// 2013 The International Conference on Technological Advances in Electrical , Electronics and Computer Engineering ( TAEECE ) . New York : IEEE , 2013 : 552-557.
[ 4 ] LEE T .Exponential stability of an attitude tracking control system on SO ( 3 ) for large-angle rotational maneuvers [ J ] .Systems and control letters , 2012 , 61( 1 ): 231-237
[ 5 ] RAFFO G V , ORTEGA M G , RUBIO F R.Backstepping / nonlinear H∞ control for path tracking of a quadrotor unmanned aerial vehicle [ C ]// 2008 American Control Conference.New York : IEEE , 2008 : 3356-3361.
[ 6 ] 韩京清 . 一类不确定对象的扩张状态观测器[ J ] . 控制 与决策, 1995 ( 1 ): 85-88.
[ 7 ] ZHANG Y , CHEN Z Q , ZHANG X H , et al.A novel control scheme for quadrotor UAV based upon active disturbance rejection control [ J ] .Aerospace science and technology , 2018 , 79 : 601-609.?
[ 8 ] LOTUFO M A , COLANGELO L , PEREZ-MONTENEGRO C , et al.UAV quadrotor attitude control : An ADRC-EMC combined approach [ J ] .Control engineering practice , 2019 , 84 : 13-22.
[ 9 ] 余小燕,孙宪坤,熊玉洁,等 . 基于改进 ADRC 的四旋 翼无人机抗干扰姿态控制系统设计[ J ] . 电光与控制, 2020 , 27 ( 12 ): 78-83.
[ 10 ] XIONG J , PAN J , CHEN G , et al.Sliding mode dual channel disturbance rejection attitude control for a quadrotor [ J ] .IEEE Transactions on industrial electronics , 2021 , 69 ( 10 ): 10489-10499.
[ 11 ] 杨文奇,卢建华,姜旭,等 . 基于改进 ESO 的四旋翼姿态自抗扰控制器设计 [ J ] . 系统工程与电子技术,2022 , 44 ( 12 ): 3792-3799
[ 12 ] QI G Y , LI X , CHEN Z Q.Problems of extended state observer and proposal of compensation function observer for unknown model and application in UAV[ J ] .IEEE Transactions on systems , man , and cybernetics : systems , 2022 , 52 ( 5 ): 2899-2910.
[ 13 ] 赵旭,齐国元,蔚昕晨,等 . 补偿函数观测器及其在飞行器姿态控制中应用[ J ] . 航空学报, 2023 , 44 ( 9 ): 261-376.
[ 14 ] MANMOHAN S , INDRANI K.Nonlinear disturbance observer based geometric control of quadrotors [ J ] .Asian journal of control , 2021 , 23 ( 4 ): 1936-1951.

相似文献/References:

[1]沈 伟１,崔 霞２.泵控马达速度伺服系统自抗扰与ＰＩＤ控制[J].机械与电子,2019,(09):42.
　.Comparative Study of ADRC and PID Control of Hydraulic Motor Controlled by Pump[J].Machinery & Electronics,2019,(12):42.
[2]黄文超,刘 泽,赵思泽,等.自抗扰锁相跟踪系统设计与仿真[J].机械与电子,2021,(07):40.
　HUANG Wenchao,LIU Ze,ZHAO Size,et al.Design and Simulation of Auto-disturbance- rejection Phase-locked Loop[J].Machinery & Electronics,2021,(12):40.
[3]李海鹏,李 辉.降弓惰行高铁永磁同步电机转子转速自抗扰控制技术[J].机械与电子,2024,42(12):66.
　LI Haipeng,LI Hui.Active Disturbance Rejection Control Technology for Rotor Speed of High-speed Permanent Magnet Synchronous Motor in Coasting of Electric Trains with Pantographs Lowered[J].Machinery & Electronics,2024,42(12):66.
[4]郭正刚,赵 彪,于景奇,等.基于模糊自抗扰控制的液压悬架电机调速研究[J].机械与电子,2025,(08):73.
　GUO Zhenggang,ZHAO Biao,YU Jingqi,et al.Research on Speed Regulation of Hydraulic Suspension Motor Based on Fuzzy Active Disturbance Rejection Control[J].Machinery & Electronics,2025,(12):73.
[5]张会珍,孙 琦,王立杰,等.基于径向基神经网络的半导体激光器温度自抗扰控制[J].机械与电子,2025,(09):40.
　ZHANG Huizhen,SUN Qi,WANG Lijie,et al.Temperature Rejection Control of Semiconductor Laser Based on Radial Basis Neural Network[J].Machinery & Electronics,2025,(12):40.
[6]杨续铭,王志胜,邰秀新.基于滑模自抗扰的飞机主动侧杆位置控制[J].机械与电子,2025,(10):49.
　YANG Xuming,WANG Zhisheng,TAI Xiuxin.Aircraft Active Sidestick Position Control Based on Sliding Mode Active Disturbance Rejection[J].Machinery & Electronics,2025,(12):49.

备注/Memo

备注/Memo:
收稿日期: 2023-05-14
作者简介:董洋洋 ( 1985- ),女,吉林白山人,博士,副教授,研究方向为机器人技术;夏泽群 ( 1998- ),男,湖北黄冈人,硕士研究生,研究方向为机器人、自动化控制;王永滨 ( 1984- ),男,吉林白山人,硕士,研 究员,研究方向为空间减速与着陆技术;张子建 ( 1984- ),男,山东德州人,博士,副教授,研究方向为空间机械电子技术。
更新日期/Last Update: 2024-01-10