基于ESO的LQR控制器在无人机姿态控制中的研究

doi:10.16182/j.issn1004731x.joss.201802047

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (2): 753-759.doi: 10.16182/j.issn1004731x.joss.201802047

• 仿真应用工程 • 上一篇

基于ESO的LQR控制器在无人机姿态控制中的研究

潘健, 刘昌龙

湖北工业大学电气与电子工程学院,武汉 430068

收稿日期:2016-01-18 出版日期:2018-02-08 发布日期:2019-01-02
作者简介:潘健(1962-),男,上海,学士,副教授,研究方向为控制理论与控制工程;刘昌龙(1991-),男,湖北洪湖,硕士生,研究方向为控制理论与控制工程。
基金资助:
湖北省自然科学基金(2011CHB003)

UAV Attitude Control with LQR Controller Based on Extended State Observer

Pan Jian, Liu Changlong

Department of Electrical and Electronic Engineering, Hubei University of Technology, Wuhan 430068, China

Received:2016-01-18 Online:2018-02-08 Published:2019-01-02

摘要/Abstract

摘要： 由于复杂环境下不确定扰动及模型参数变化等因素的存在,传统线性二次调节控制器(LQR)可能导致控制对象的不稳定,提出了基于扩张状态观测器(ESO)的LQR控制策略,旨在保证控制对象在复杂环境下工作的可靠性。以四旋翼无人机Qball-X4为研究对象构建其非线性动力学模型。利用ESO能够实时估计并补偿内扰和外扰的能力改进LQR姿态控制器。通过Matlab/Simulink仿真和四旋翼无人机Qball-X4实际飞行测试验证了该算法的有效性。

关键词: 扩张状态观测器(ESO), 线性二次调节器(LQR), 四旋翼无人机, 姿态控制器

Abstract: Due to the external disturbances and parameter variations in the complex environment, the traditional linear quadratic controller (LQR) may induce instability to the controlled object. A control strategy of LQR based on extended state observer (ESO) is proposed, which aims to ensure the working reliability of the controlled object in complex environment. The nonlinear mathematical model of the quadrotor Qball-X4 is established. The ESO’s abilities of estimating and compensating the impact of internal/external disturbances simultaneously are used to improve the LQR attitude controller. Matlab/Simulink simulation and an experiment of trajectory tracking on the quadrotor Qball-X4 verify the validity of the proposed algorithm.

Key words: extended state observer (ESO), linear quadratic controller (LQR), quadrotor UAV, attitude controller

中图分类号:

TB273+.1

潘健, 刘昌龙. 基于ESO的LQR控制器在无人机姿态控制中的研究[J]. 系统仿真学报, 2018, 30(2): 753-759.

Pan Jian, Liu Changlong. UAV Attitude Control with LQR Controller Based on Extended State Observer[J]. Journal of System Simulation, 2018, 30(2): 753-759.

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基于ESO的LQR控制器在无人机姿态控制中的研究

UAV Attitude Control with LQR Controller Based on Extended State Observer

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