四旋翼无人机姿态稳定性能控制仿真研究

摘要

In this paper,an extended state observer (ESO) is proposed to solve the problems of weak robustness,model uncertainty,internaland external disturbances in a nonlinear and strongly coupled control system.The extended state observer estimates the disturbance according to the input and output information of the external system state,and uses state and disturbance estimation to establish the finite horizon predictive controller,which can effectively inhibit the attitude stabilization control in model uncertainty and external disturbance influence.UAV attitude control experimental verification based on the four rotor experiment platform was carried out,and the predictive controller based on extended state observer was proved.The results show that this method can effectively suppress the attitude stabilization control in model uncertainty and external disturbance when the parameter selection in reasonable condition,and the system stability and control precision are improved.%针对四旋翼无人机飞行姿态稳定控制中存在鲁棒性不强,模型不确定性及系统外部扰动等问题,提出一种基于扩张状态观测器(Extended State Observer,ESO)的预测控制方法.扩张状态观测器根据系统输入输出信息对系统状态及外部扰动进行估计,利用状态及扰动估计建立有限时域预测控制器,从而有效抑制姿态稳定控制中的模型不确定性和外部扰动影响.利用四旋翼无人机地面姿态稳定控制实验平台,对基于扩张状态观测器的预测控制器进行实验验证,结果表明,在参数选择合理情况下,该方法能有效抑制姿态稳定控制中的模型不确定和外部扰动问题,提高了系统稳定性和控制精度.