航空工程进展2025，Vol.16Issue(1)：54-63,10.DOI:10.16615/j.cnki.1674-8190.2025.01.07
四旋翼飞行器鲁棒自适应抗干扰姿态控制
Adaptive robust anti-disturbance attitude control for quadrotors
摘要
Abstract
The high-performance attitude controller can effectively suppress comprehensive effects caused by uncer-tainties and external dynamic disturbances,and ensure that the quadrotor can safely and reliably fly to complete the designated mission.Therefore,nonlinear uncertainties of quadrotor flight systems are approximated by a radial ba-sis function neural network(RBFNN)quadrotor,and an extended state observer(ESO)is designed to estimate lumped disturbances caused by RBFNN approximation errors and external disturbances.The black box problem of RBFNN is solved by using a model identification error and a tracking error as decision variables.Then,an adaptive robust anti-disturbance attitude tracking controller is designed for quadrotor flight systems based on dynamic sur-face control and Lyapunov stability theory,and an auxiliary system is constructed to suppress the effect of filtering error on the closed-loop system performance.The results show that the quadrotor designed in this paper can pre-cisely track the desired attitude angles,and the proposed controller has strong robustness and stability in the pres-ence of uncertainties and disturbances.关键词
四旋翼飞行器/动态面控制/神经网络/扩张状态观测器/干扰抑制Key words
quadrotor/dynamic surface control/neural network/extended state observer/disturbance suppression分类
航空航天引用本文复制引用
李统帅,陈龙胜,彭云,石童昕,金飞宇..四旋翼飞行器鲁棒自适应抗干扰姿态控制[J].航空工程进展,2025,16(1):54-63,10.基金项目
国家自然科学基金(61963029) （61963029）
江西省自然科学基金(20224BAB202027,20232ACB202007) （20224BAB202027,20232ACB202007）
