基于扰动观测器和指令滤波的四旋翼无人机姿态控制

doi:10.16182/j.issn1004731x.joss.24-0583

系统仿真学报 ›› 2025, Vol. 37 ›› Issue (11): 2793-2803.doi: 10.16182/j.issn1004731x.joss.24-0583

基于扰动观测器和指令滤波的四旋翼无人机姿态控制

李博宁¹, 陈明¹, 齐舒畅¹, 孟浩然², 王磊³

^1.辽宁科技大学电子与信息工程学院，辽宁鞍山 114051
^2.鞍钢股份有限公司，辽宁鞍山 114021
^3.鞍钢矿山机械制造有限公司，辽宁鞍山 114000

收稿日期:2024-05-30 修回日期:2024-07-09 出版日期:2025-11-18 发布日期:2025-11-28
通讯作者: 陈明
第一作者简介:李博宁(1999-)，男，硕士生，研究方向为非线性控制理论。
基金资助:
国家自然科学基金(61773072);国家自然科学基金(61873024);国家自然科学基金(U21A20483)

Attitude Control of Quadrotor UAV Based on Disturbance Observer and Command Filtering

Li Boning¹, Chen Ming¹, Qi Shuchang¹, Meng Haoran², Wang Lei³

^1.School of Electronic and Information Engineering, Liaoning University of Science and Technology, Anshan 114051, China
^2.Anshan Iron & Steel Co. , Anshan 114021, China
^3.Angang Mining Machinery Manufacturing Co. , Anshan 114000, China

Received:2024-05-30 Revised:2024-07-09 Online:2025-11-18 Published:2025-11-28
Contact: Chen Ming

摘要/Abstract

摘要：

针对四旋翼无人机姿态跟踪控制问题，提出了一种基于反步法的有限时间容错控制方案。设计一个有限时间神经网络扰动观测器，可以快速补偿执行器故障和外界扰动所引起的影响，提高系统的鲁棒性；引入一阶指令滤波器和补偿机制，避免因对虚拟控制律求导引起的复杂计算问题，消除滤波误差的影响；选择双曲正切函数作为输入转矩的约束函数，限制了输入信号过大，避免了控制器设计中存在的奇异问题。数值仿真和实物平台实验结果证明了方案的有效性和可行性。

关键词: 扰动观测器, 有限时间, 神经网络, 指令滤波, 四旋翼无人机, 容错控制

Abstract:

A finite-time fault-tolerant control scheme based on backstepping was proposed for the attitude tracking control problem of quadrotor UAVs. A finite-time neural network disturbance observer was designed, which could quickly compensate for the impacts of actuator failures and external disturbances, thereby enhancing the system's robustness. A first-order command filter and a compensation mechanism were introduced, which could avoid the computational complexity caused by differentiating the virtual control law and eliminate the influence of filtering errors. The hyperbolic tangent function was selected as the constraint function for the input torque, which restricted the input signal to prevent excessive magnitude and avoided the singularity problem in controller design. Numerical simulations and physical platform experiment results fully verified the effectiveness and feasibility of the proposed scheme.

Key words: disturbance observer, finite-time, neural network, command filtering, quadrotor UAV, fault-tolerant control

中图分类号:

TP273

李博宁,陈明,齐舒畅等 . 基于扰动观测器和指令滤波的四旋翼无人机姿态控制[J]. 系统仿真学报, 2025, 37(11): 2793-2803.

Li Boning,Chen Ming,Qi Shuchang,et al . Attitude Control of Quadrotor UAV Based on Disturbance Observer and Command Filtering[J]. Journal of System Simulation, 2025, 37(11): 2793-2803.

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基于扰动观测器和指令滤波的四旋翼无人机姿态控制

Attitude Control of Quadrotor UAV Based on Disturbance Observer and Command Filtering

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