电光与控制, 2023, 30 (3): 15, 网络出版: 2023-04-03  

滑模控制的四旋翼无人机拓展状态观测器设计

Design of an Extended State Observer Based on Sliding-Mode Control for Quadrotor UAV
作者单位
1 上海工程技术大学, a.电子电气工程学院
2 上海工程技术大学,b.数理与统计学院,上海 201000
摘要
针对带有扰动及不确定性的四旋翼无人机的稳定性问题, 提出了一种基于滑模控制方法的拓展状态观测器。首先,根据机体坐标系和地面坐标系的转化, 利用反步控制方法构造无人机的动力学模型;然后, 设计拓展状态观测器, 用来恢复系统的状态以及对系统所有扰动及不确定性进行估计; 可以实现误差快速收敛以及足够高的估计精度; 同时, 设计了滑模控制器, 结合李雅普诺夫稳定性理论和线性矩阵不等式方法, 提出了观测器的稳定性条件; 最后, 通过数值仿真对其有效性进行了验证。
Abstract
An extended state observer based on sliding-mode control method is proposed to solve the stability problem of quadrotor UAVs with disturbances and uncertainties.First, according to the transformation of body coordinate system and ground coordinate system, the dynamic model of UAV is constructed by using backstepping control method.Then, an extended state observer is designed to restore the state of the system and estimate all disturbances and uncertainties of the system.It can achieve rapid error convergence and high enough estimation accuracy.At the same time, the sliding-mode controller is designed.Combined with Lyapunov stability theory and linear matrix inequality method, the stability condition of the observer is proposed.Finally, the validity is verified by numerical simulation.
参考文献

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胡竣耀, 陈巧玉, 童东兵, 毛琦. 滑模控制的四旋翼无人机拓展状态观测器设计[J]. 电光与控制, 2023, 30(3): 15. HU Junyao, CHEN Qiaoyu, TONG Dongbing, MAO Qi. Design of an Extended State Observer Based on Sliding-Mode Control for Quadrotor UAV[J]. Electronics Optics & Control, 2023, 30(3): 15.

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