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针对固定翼无人机姿态和速度控制中系统存在模型不确定性和外界扰动的情况,本文设计了基于扩张状态观测器的反步控制器抑制系统扰动以提高无人机的控制性能.首先建立无人机速度误差模型和姿态误差模型,其中姿态误差模型采用四元数作为变量以避免欧拉角在描述姿态时存在的奇点问题和复杂三角运算;进而设计扩张状态观测器对系统中存在的扰动进行估计,并将扰动估计值与控制器设计相结合,分别设计出姿态控制器和速度控制器来抑制扰动的影响且使无人机姿态和速度收敛到期望值.最后基于李雅普诺夫理论证明系统的稳定性.仿真结果表明,本文所设计方法能够抑制系统中存在的扰动.
In order to improve the UAV’s control performance, the backstop controller based on the extended state observer is designed to improve the control performance of the UAV in the attitude and velocity control of the fixed-wing UAV. UAV speed error model and attitude error model, in which the attitude error model uses quaternion as a variable to avoid the Euler angle in describing the singularities and complex trigonometry; and then design the extended state observer to exist in the system And the perturbation estimation is combined with the controller design to design the attitude controller and speed controller respectively to suppress the disturbance and to make the attitude and velocity of the UAV converge to the expected value.Finally, based on the Lyapunov theory The stability of the system is proved.The simulation results show that the proposed method can restrain the disturbance in the system.