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为了补偿四旋翼飞行器编队飞行过程中受到的模型不确定性和外部干扰,提出了一种分布式非线性扰动观测器(NDOB).首先,考虑四旋翼模型不确定性和外部干扰,提出了一种新的四旋翼动力学模型.其次,在四旋翼飞行器的内部姿态回路中应用非线性扰动观测器,并且引入低通滤波器以滤除低频干扰.最后,引入风和不规则负载作为线性/非线性外部干扰,将NDOB控制器应用在领导-跟随的四旋翼编队中.仿真结果表明,在该观测器的作用下,扰动观测器能够完全抑制系统外部的线性风扰动,编队队形的整体偏移率在x和y轴上分别下降到0.01%和0.5%.对于非线性不规则负载运输实验,非线性扰动观测器对扰动的补偿率达到99.36%,能够有效地补偿四旋翼飞行器编队飞行过程中受到的模型不确定性和外部干扰.
In order to compensate the model uncertainties and external disturbances during the formation flight of the four-rotor aircraft, a distributed nonlinear disturbance observer (NDOB) is proposed.Firstly, considering the uncertainty of the four-rotor model and the external disturbance, A new quadrotor dynamics model is proposed.Secondly, a nonlinear perturbation observer is applied to the internal attitude loop of the quadrotor and a low-pass filter is introduced to filter out low-frequency interference.Finally, wind and irregular loads are introduced as linear / Nonlinear external disturbances are used to apply the NDOB controller to the lead-following quadrotor formation. The simulation results show that the disturbance observer can completely restrain the linear wind disturbance outside the system under the action of the observer. The whole formation formation The offset rate drops to 0.01% and 0.5% on the x and y axes, respectively.For the nonlinear irregular load transport experiment, the nonlinear disturbance observer can compensate for the disturbance up to 99.36%, which can effectively compensate for the quadcopter flight Model uncertainty and external disturbances in the process.