四旋翼飞行器姿态的显式模型预测控制

王仑; 苏敏; 杨帆; 佃松宜

doi:doi:10.3969/j.issn.1671-637x.2017.11.011

电光与控制, 2017, 24 (11): 53, 网络出版: 2017-11-27

四旋翼飞行器姿态的显式模型预测控制

Explicit Model Predictive Control for Attitude of Quad-rotor Aerial Vehicles

论文大纲

王仑苏敏杨帆佃松宜

作者单位

四川大学电气信息学院,成都 610065

四旋翼飞行系统显式模型预测控制状态空间模型多参数二次规划 quad-rotor flight system explicit model predictive control state space model multi-parameter quadratic programming

摘要

针对四旋翼飞行系统的多变量、强耦合和带约束等复杂特性,提出了基于显式模型预测的控制方法。首先根据四旋翼飞行系统的动力学特点,建立了九状态空间模型,并解耦成2个子系统。然后,采用多参数二次规划法,离线计算了四旋翼飞行系统的显式最优控制律,在线查找当前状态对应的控制量。数值仿真和实验结果表明,该方法在满足约束条件同时,调节时间较短,超调量较小且具有一定的抗扰动能力,成功实现了四旋翼飞行器的姿态稳定控制。

Abstract

Considering the complex characteristics of quad-rotor aerial vehicles,such as multiple variables,strong coupling and the constraints,we proposed a controlling method based on explicit model prediction. According to the dynamic characteristics of the quad-rotor flight system,a nine-state space model was built,which was decoupled into two subsystems.Then,the explicit optimal controlling law of the quad-rotor flight system is calculated offline by multi-parameter quadratic programming,and the controlled quantity corresponding to the current state was searched online. Numerical simulation and experiment results show that the proposed method has the advantages of short adjusting time,small overshoot and certain anti-disturbance ability,as well as meeting the constraint requirements,and the stability control of the attitude is successfully achieved.

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王仑, 苏敏, 杨帆, 佃松宜. 四旋翼飞行器姿态的显式模型预测控制[J]. 电光与控制, 2017, 24(11): 53. WANG Lun, SU Min, YANG Fan, DIAN Song-yi. Explicit Model Predictive Control for Attitude of Quad-rotor Aerial Vehicles[J]. Electronics Optics & Control, 2017, 24(11): 53.

四旋翼飞行器姿态的显式模型预测控制

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