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- Title
过驱动四旋翼飞行器实验平台姿态跟踪 鲁棒控制器的设计与验证.
- Authors
彭琛; 王硕; 蒲虹宇; 吴祺煊; 张鹏; 贺晓华; 张金鹏
- Abstract
The attitude tracking control problem of an overdriven quadrotor aircraft experimental platform is studied. The platform has unknown input disturbances and angular velocity cannot be measured, and the motor also has dead zone and saturation nonlinear characteristics. First, a linear perturbed double-integral model of the platform is established. Afterwards, an attitude-tracking robust controller including a proportional-integral-derivative nominal controller and an adaptive extended state observer(AESO)s designed. Among them, the nominal controller is used to ensure the asymptotic stability of the nominal closed-loop system, and AESO is used to estimate the angular velocity and disturbance information of the experimental platform to solve the problem of no velocity measurement and disturbance suppression. Moreover, the overdrive control allocation problem is solved by using the pseudo-inverse matrix method. In addition, an auxiliary system is constructed to weaken the influence of the motor’s dead zone and saturated nonlinear characteristics. Finally, the simulation and experiments verify that the proposed control strategy can effectively solve the problems caused by the dead zone and saturation characteristics of the motor, and can simultaneously take into account the transient overshoot and steady-state error performance of the closed-loop system.
- Publication
Aero Weaponry, 2023, Vol 30, Issue 6, p96
- ISSN
1673-5048
- Publication type
Article
- DOI
10.12132/ISSN.1673-5048.2023.0078