基于非线性扰动观测器的无人机地面效应补偿

doi:10.13229/j.cnki.jdxbgxb20210155

摘要/Abstract

摘要：

本文针对地面效应对四旋翼无人机在降落过程中控制性能有较大影响的问题，在四旋翼无人机地面效应复杂、难以建立机理模型的限制下，提出一种基于非线性扰动观测器的新型非线性鲁棒控制策略。这种控制策略利用扰动观测器估计和补偿地面效应带来的扰动，采用快速终端滑模控制器提高了无人机位置控制误差的收敛速度，实现了无人机降落过程中的精确控制。通过基于李雅普诺夫分析的方法证明了闭环系统的稳定性，以及观测器估计误差和控制器跟踪误差的有限时间收敛特性。飞行实验效果表明：本文提出的控制补偿策略取得了良好的无人机降落控制效果。

关键词: 无人机, 降落控制, 非线性扰动观测器, 地面效应, 有限时间收敛

Abstract:

In this paper， a novel nonlinear control strategy based on the nonlinear disturbance observer is developed to compensate the unknown ground effects during the landing procedure. Owing to the intricacy of the ground effects， it is very hard to obtain the precise dynamic model for the UAV's landing procedure. To solve this issue， a nonlinear observer is designed to estimate the unknown disturbance introduced by the ground effects. Then the fast terminal sliding mode control method is combined with the disturbance observer to formulate a new nonlinear robust landing control strategy which is able to suppress the unknown ground effects and drive the quadrotor to its desired landing point accurately. The Lyapunov based stability analysis is employed to prove the stability of the closed loop system， and the finite-time convergence of the UAV's altitude control error together with the disturbance estimation errors are guaranteed. Real-time flight experimental results are presented to show the good landing control performance of the proposed control strategy.

Key words: unmanned aerial vehicle, landing control, disturbance observer, ground effects, finite-time convergence

中图分类号:

TP273

鲜斌,李杰奇,古训. 基于非线性扰动观测器的无人机地面效应补偿[J]. 吉林大学学报(工学版), 2022, 52(8): 1926-1933.

Bin XIAN,Jie-qi LI,Xun GU. Ground effects compensation for an unmanned aerial vehicle via nonlinear disturbance observer[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(8): 1926-1933.

图/表 7

表1

数值仿真相关参数"

变量名称	参数值	变量名称	参数值
$m$	$1$	$p 0$	5
$g$	9.8	$α 1$	5
$J x$	0.082	$ξ 1$	10
$J y$	0.0845	$μ 1$	5
$J z$	0.1377	$ν 1$	7
$k$	10	$α 2$	0.2
$β$	2	$ξ 2$	0.1
$ε$	50	$μ 2$	1
$q 0$	9	$ν 2$	3

表1

图1

表2

飞行实验相关参数"

变量名称	数值	变量名称	数值
$m$	$1.473$	$p 0$	3
$g$	9.8	$α 1$	3
$δ$	0.5	$ξ 1$	3
$ρ$	0.2	$μ 1$	3
$k s$	8	$ν 1$	5
$k$	10	$α 2$	4
$β$	20	$ξ 2$	6
$ε$	40	$μ 2$	3
$q 0$	7	$ν 2$	5

表2

图2

图3

图4

图5

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