关键词: 非平面全驱动多旋翼无人机, 匹配干扰, 非匹配干扰, 预测控制, 轨迹跟踪

Abstract:

Targeting the problem that nonplanar fully-actuated unmanned aerial vehicles (UAVs) are susceptible to external winds and unmodeled dynamics, the predictive control system with good robustness is designed. A nonlinear motion model with six degrees of freedom is established through the Newton-Euler approach. A linear extended state observer is designed to estimate the state variables by transforming the system affected by matched and unmatched disturbances into an equivalent system only affected by the matched disturbances. A predictive controller is designed for the equivalent system to reduce the output oscillation and input surging and a disturbance compensator is also designed to improve the system robustness. Simulation results show that, compared to the conventional nonlinear dynamic inverse control method, the proposed algorithm-based closed-loop system has the stronger anti-interference capability and higher trajectory tracking accuracy.

Key words: nonplanar fully-actuated unmanned aerial vehicles, matched disturbances, mismatched disturbances, predictive control, trajectory tracking