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| 四轴飞行器串级ADRC轨迹跟踪控制 |
| Trajectory tracking control for quadrotor based on cascaded ADRC |
| 投稿时间：2019-01-17 |
| DOI： |
| 中文关键词: 四轴飞行器 自抗扰控制 轨迹跟踪 粒子群算法 参数自整定 Simulink仿真 |
| 英文关键词: quadrotor ADRC trajectory tracking particle swarm algorithm parameter self-tuning Simulink simulation |
| 基金项目:国家自然科学基金资助项目(51567009)；江西省教育厅科学技术研究一般项目(GJJ160492). |
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| 中文摘要: |
| 四轴飞行器是一个欠驱动系统,具有非线性、强耦合、易受干扰等特点,为此本文设计了一种串级自抗扰控制器(ADRC),并采用改进粒子群算法进行控制器参数自整定。串级ADRC的外环为位置控制环,内环为姿态角控制环。为避免外环产生的高频信号噪声不利于内环控制,外环采用线性ADRC,而内环采用非线性ADRC。Simulink仿真结果表明,该方法对四轴飞行器轨迹跟踪具有良好的控制效果,并能有效抑制外部干扰。 |
| 英文摘要: |
| Quadrotor is a typical underactuated system with such characteristics as non-linearity, strong coupling and susceptibility to disturbance. Therefore, a cascaded controller based on active disturbance rejection control (ADRC) technology is designed and an improved particle swarm algorithm is used for the controller’s parameter self-tuning. The outer loop of cascaded ADRC controls the quadrotor’s position coordinates, and the inner one controls its attitude angles. To prevent the high-frequency signal noise caused by the outer loop from disturbing the inner-loop control, the outer and inner loops adopt linear and non-linear ADRC, respectively. Simulation results by Simulink software prove that the proposed method has good control performance in quadrotor trajectory tracking and can suppress external interference effectively. |
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