针对四旋翼飞行器非线性、强耦合的特性以及存在建模误差和未知扰动下姿态控制问题,提出了 一种改进自抗扰控制方案.利用反馈线性化方法将无人机姿态动力学模型转化为线性模型,减少了小扰动假设带来的系统误差;改进了扩张状态观测器(ESO)的结构,使其能同时利用角度和角速度的测量信息,提高了其对时变扰动的估计精度;基于改进ESO完成了自抗扰控制器的设计并证明了该控制系统的稳定性.仿真实验结果表明,基于改进ESO的自抗扰控制器具有更强的抗干扰性和鲁棒性.
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.