基于干扰抑制控制的飞行器姿态跟踪
Attitude Tracking of the Aircraft Based on Disturbance Rejection Control
摘要点击 691  全文点击 1491  投稿时间:2013-09-18  修订日期:2013-11-06
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DOI编号  10.7641/CTA.2013.30985
  2013,30(12):1609-1616
中文关键词  飞行器  姿态跟踪控制  线性扩张状态观测器  非线性反馈控制  一致最终有界
英文关键词  aircraft  attitude tracking control  linear ESO  nonlinear feedback control  UUB
基金项目  
学科分类代码  
作者单位E-mail
王璐 上海交通大学  
苏剑波 上海交通大学 jbsu@sjtu.edu.cn 
中文摘要
      本文针对飞行器姿态跟踪控制问题, 考虑系统的内部模型不确定性和外界扰动, 设计了使跟踪误差一致最终有界的控制器. 以四元数为姿态参数, 建立系统的非线性误差模型; 将控制系统分为内环观测器和外环控制器分别设计, 其中, 线性扩张状态观测器作为系统内环将实际系统补偿为标称模型, 而外环非线性控制器则用于镇定非线性标称系统. 最后, 利用Lyapunov理论得到了一致最终有界的稳定性结论, 并基于频域理论, 分析了线性扩张状态观测器阶次对系统性能的影响. 姿态跟踪实验表明, 本文设计的控制系统能够有效实现飞行器的姿态跟踪控制.
英文摘要
      This paper studies the attitude tracking control problem of an aircraft. With the consideration of internal uncertainties of system and external disturbances, the controller proposed stabilizes the system to be uniformly ultimately bounded (UUB). Firstly, the error model of attitude tracking objective is established based on quaternion. Then, the control system is divided into inner loop of observer and outer loop of controller, respectively. The system model is compensated into the nominal one by a linear extended state observer (ESO). A controller is hence designed for the compensated system to achieve desired performance, whose UUB stability is proven by Lyapunov theorem. Meanwhile, the performance of linear ESO is analyzed in frequency domain. Experimental results show that the proposed control scheme can accomplish the task of attitude tracking successfully and effectively.