测控技术2025，Vol.44Issue(4)：7-15,9.DOI:10.19708/j.ckjs.2025.02.215
基于风扰观测的无人机轨迹跟踪预测控制
Trajectory Tracking Predictive Control for Quadrotor UAV Based on Wind Disturbance Estimation
摘要
Abstract
To address the trajectory tracking problem of quadrotor UAV in complex wind disturbance environ-ment,a model predictive control(MPC)method based on nonlinear disturbance estimation is proposed.A dual-loop structure is adopted to control the position and attitude of the UAV separately.MPC is adopted in both the inner and outer loops,and an improved nonlinear disturbance observer is added to estimate and compensate for the unknown wind disturbances in feedforward channel.The stability of the system is proved through a Lya-punov function.Simulation experiments shows that this control method can achieve a superior performance in both position and attitude tracking under complex wind field disturbances.Compared to existing general dis-turbance estimation or MPC methods,the disturbance estimation is more accurate,with reducing the integral of absolute error(IAE)reduced by 90.7％and decreasing the root mean square error(RMSE)by 71.15％.Its dynamic response and tracking speed are faster,reducing stability time by 64％.Its control error is smaller,with reducing IAE by 27.3％and reducing RMSE by 23.67％.关键词
四旋翼无人机/模型预测控制/扰动观测器/轨迹跟踪Key words
quadrotor UAV/MPC/disturbance observer/trajectory tracking分类
计算机与自动化引用本文复制引用
陈娜,李宪,陈春梅..基于风扰观测的无人机轨迹跟踪预测控制[J].测控技术,2025,44(4):7-15,9.基金项目
山东省自然科学基金(ZR2021QF038) （ZR2021QF038）
