窦立谦, 芦飞
AuthorsHTML:窦立谦, 芦飞
AuthorsListE:Dou Liqian, Lu Fei
AuthorsHTMLE:Dou Liqian, Lu Fei
Unit:天津大学电气自动化与信息工程学院，天津 300072
Unit_EngLish:School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China
Abstract_Chinese:针对欠驱动四旋翼飞行器提出了一种基于扩张状态观测器(ESO)和反步法的轨迹跟踪控制策略．在外界环境干扰和系统参数摄动等不确定性的影响下, 保证空间位置和偏航角可以快速平滑地跟踪给定信号．根据系统严格反馈的结构特点, 采用反步法设计内外环路的控制器; 为避免控制过程中的复杂计算, 采用ESO对系统的复合干扰进行在线实时估计, 并在控制律中进行实时补偿; 为避免反步控制导致的“微分爆炸”问题, 减小对系统模型的依赖性, 采用了动态面策略, 以及为提高系统的鲁棒性, 引入了滑模面．稳定性分析表明闭环控制系统是全局渐进稳定的．仿真结果验证了所提控制方法的有效性和鲁棒性．
Abstract_English:A trajectory tracking control scheme for the underactuated quadrotor unmanned aerial vehicle(UAV) is proposed based on extended state observer(ESO)and backstepping. In the presence of external disturbances and inner model parameter uncertainty，the proposed scheme guarantees that the position and yaw angle could track the reference signal speedily and smoothly. According to the strict feedback architecture of the system，the backstepping control is adopted to design the controller. To avoid the complex calculation，the interference is observed by ESO online and the algorithm compensates the interference in the control law. To avoid the “explosion of terms”，decrease dependence on the system model in backstepping control and improve robustness，the dynamic surface control method and the sliding mode surface are applied to design the controller. The closed-loop control system is proven to be globally asymptotically stable by the stability analysis. Effectiveness and robustness of the proposed trajectory tracking scheme are verified through simulation experiment.
Keyword_Chinese:四旋翼; 轨迹跟踪; 扩张观测器; 反步法; 动态面; 滑模面
Keywords_English:quadrotor; trajectory tracking; extended state observer; backstepping; dynamic surface; sliding mode surface

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