智能科学与技术学报2023，Vol.5Issue(4)：486-493,8.DOI:10.11959/j.issn.2096-6652.202337
基于极值搜索的四旋翼无人机姿态跟踪控制
Attitude tracking control for quadrotor UAVs based on extremum seeking
摘要
Abstract
A robust control method based on extremum seeking is proposed for the attitude tracking problem of quadrotor UAV with uncertainty.Firstly,a nonlinear attitude model of a four rotor UAV was established,and considering the uncer-tainty of model parameters,a robust controller was designed to ensure the dynamic boundedness of tracking errors.Sec-ondly,a learning-based controller was designed by combining a robust controller with a model-free learning algorithm,which automatically and iteratively adjusted the feedback gain of the robust controller and optimized the expected perfor-mance cost function online.Finally,numerical simulations were performed using MATLAB,which demonstrated a reduc-tion of 0.246 in the steady-state tracking error of the proposed control method compared to the classical robust control method.This result confirms the robustness and superiority of the proposed method.关键词
四旋翼无人机/姿态跟踪/极值搜索/反馈增益整定Key words
quadrotor UAV/attitude tracking/extremum seeking/feedback gain tuning分类
信息技术与安全科学引用本文复制引用
郭大力,赵中原,罗子娟..基于极值搜索的四旋翼无人机姿态跟踪控制[J].智能科学与技术学报,2023,5(4):486-493,8.基金项目
江苏省自然科学基金项目(No.BK20200824) （No.BK20200824）
南京信息工程大学人才启动经费项目(No.2019r082)The National Natural Science Foundation of Jiangsu Province(No.BK20200824),The Startup Foundation for In-troducing Talent of NUIST(No.2019r082) （No.2019r082）
