基于补偿函数观测器的四旋翼无人机姿态受限控制

doi:10.13229/j.cnki.jdxbgxb20220612

Abstract

Abstract:

Due to the limitation of the flight environment of the quadrotor UAV and its own actuator， its attitude is often subject to various constraints. To ensure that the attitude always changes within the constraint range， the barrier Lyapunov function （BLF） was introduced to ensure that the attitude always varies within the constraint range to ensure that the system can achieve the preset performance. A compensation function observer based BLF attitude constrained backstepping control （CFO-BLF） scheme was proposed. Simulink simulation compares the CFO-BLF backstepping control， ESO-BLF backstepping control and PID control algorithms by testing the attitude tracking performance of the quadrotor UAV to verify the effectiveness and superiority of CFO-BLF.

Key words: control theory and control engineering, extend state observer （ESO）, compensation function observer （CFO）, barrier Lyapunov function, backstepping control

CLC Number:

TP273

Guo-yuan QI,Kuo LI,Kun WANG. Attitude constrained control of quadrotor unmanned aerial vehicle based on compensation function observer[J].Journal of Jilin University(Engineering and Technology Edition), 2023, 53(3): 853-862.

Figures/Tables 9

Fig.1

Fig.2

Table 1

Observer parameters"

CFO	$λ$	8
	$l 1$	54
	$l 2$	432
ESO	$l 1$	24
	$l 2$	192
	$l 3$	512

Table 1

Fig.3

Fig.4

Table 2

Controller parameters"

PID	$k P$	0.15
	$k I$	0.2
	$k D$	0.12
BLF	$τ 1$	500
	$τ 2$	0.01
	$γ ?$	0.15

Table 2

Table 3

Model parameters"

变量	数值	变量	数值
$m / k g$	1.4	$k 1$	0.07
$g / (m ? s - 2)$	9.8	$k 2$	0.07
$l / m$	0.225	$k 3$	0.07
$I x x / (k g ? m 2)$	0.0211	$k 4$	0.03
$I y y / (k g ? m 2)$	0.0219	$k 5$	0.03
$I z z / (k g ? m 2)$	0.0366	$k 6$	0.03

Table 3

Fig.5

Fig.6

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Attitude constrained control of quadrotor unmanned aerial vehicle based on compensation function observer

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