燕山大学学报2017，Vol.41Issue(6)：521-527,7.DOI:10.3969/j.issn.1007-791X.2017.06.007
基于扩张状态观测器的飞行器姿态控制研究
Attitude control of aircraft based on extended state observer
摘要
Abstract
The system of quadrotor is studied in this paper.The dynamic model of quadrotor is established based on Newton Euler equation.The coupling and uncertain disturbances in the system of quadrotor are considered as total disturbance and estimated by an extended state observer in real time.And the estimation of total disturbance is compensated to the controller of PD to overcome the disadvantage cased by internal coupling and other nonlinear disturbances.Finally, the attitude control for a X-Aircraft is studied with our control strategy.The results of experiment indicate that the coupling and uncertain disturbances in the model of duadrotor can be estimated precisely by the extended state observer. The attitude control of quadrotor is guaranteed quickly and accurately with the control strategy.Furthermore, it indicates that the control strategy can widely used in other nonlinear system subjected to uncertain disturbances.关键词
四旋翼飞行器/扩张状态观测器/总和扰动/姿态控制Key words
quadrotor/extended state observer/total disturbance/attitude control分类
信息技术与安全科学引用本文复制引用
檀姗姗,杨洪玖,路继勇,于洋..基于扩张状态观测器的飞行器姿态控制研究[J].燕山大学学报,2017,41(6):521-527,7.基金项目
国家自然科学基金资助项目(61573301) （61573301）
河北省杰出青年科学基金资助项目(F2016203148) （F2016203148）
