机械与电子2023，Vol.41Issue(12)：31-37,7.
基于改进ESO的反馈线性化四旋翼无人机姿态控制
Feedback Linearization Attitude Control of Quadrotor UAV Based on Improved ESO
董洋洋 1夏泽群 1王永滨 2张子建1
作者信息
- 1. 南京航空航天大学航天学院,江苏 南京 210016
- 2. 南京航空航天大学航天学院,江苏 南京 210016||北京空间机电研究所,北京 100194
- 折叠
摘要
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 disturb-ance 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 simula-tion experimental results show that the self-disturbance rejection controller based on improved ESO has strong anti-jamming and robustness.关键词
四旋翼无人机/自抗扰控制/姿态控制/改进ESOKey words
quadrotor UAV/active disturbance rejection control(ADRC)/attitude control/improved extended state observer(ESO)分类
信息技术与安全科学引用本文复制引用
董洋洋,夏泽群,王永滨,张子建..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):31-37,7.
