重庆理工大学学报2024，Vol.38Issue(7)：295-302,8.DOI:10.3969/j.issn.1674-8425(z).2024.04.038
四旋翼无人机改进自抗扰姿态控制
Attitude control of quadrotor UAV based on improved active disturbance rejection control
摘要
Abstract
To overcome the issues associated with model uncertainty and external disturbances during the attitude control of a quadcopter UAV, this paper designs a quadcopter attitude controller based on self-disturbance rejection control.It integrates fuzzy control technology with traditional self-disturbance rejection control, incorporating a fuzzy control unit that combines fuzzification, fuzzy inference, and defuzzification.Furthermore, an improved beetle antennae search algorithm is employed for parameter tuning of the self-disturbance rejection controller, enhancing parameter tuning efficiency.To address the issues related to the non-smoothness of the fal function at its turning point, which leads to system oscillations and the problem of high gain in cases of significant errors, an improved yfal function is introduced to replace the fal function within the extended state observer.The convergence of this improved observer is also verified.Our simulation results demonstrate the enhanced self-disturbance rejection controller exhibits fairly faster response and improved disturbance-resistance capabilities.关键词
模糊自抗扰/姿态控制/参数优化/稳定性分析/四旋翼无人机Key words
fuzzy active disturbance rejection/attitude control/parameter optimization/stability analysis/quadcopter分类
信息技术与安全科学引用本文复制引用
徐龙艳,叶子恒,翟亚红,谢龙绛..四旋翼无人机改进自抗扰姿态控制[J].重庆理工大学学报,2024,38(7):295-302,8.基金项目
湖北省教育厅科研计划重点项目(D202111802) （D202111802）
湖北省科技厅重点研发计划项目(2022BEC008) （2022BEC008）
