| 引用本文: | 蔡庆,邱宏凌,费城,沈俊.基于扰动区间观测器的四旋翼无人机几何控制[J].控制理论与应用,2026,43(3):491~500.[点击复制] |
| CAI Qing,QIU Hong-ling,FEI Cheng,SHEN Jun.Disturbance interval observer based geometric control for quadrotor[J].Control Theory & Applications,2026,43(3):491~500.[点击复制] |
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| 基于扰动区间观测器的四旋翼无人机几何控制 |
| Disturbance interval observer based geometric control for quadrotor |
| 摘要点击 734 全文点击 117 投稿时间：2023-09-17 修订日期：2025-09-04 |
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| DOI编号 10.7641/CTA.2025.30628 |
| 2026,43(3):491-500 |
| 中文关键词 四旋翼无人机 区间观测器 扰动效应指示器 几何控制 |
| 英文关键词 quadrotor interval observer disturbance effect indicator geometric control |
| 基金项目 国家自然科学基金项目(61973156),南京航空航天大学科研与实践创新计划项目(XCXJH20220324)资助. |
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| 中文摘要 |
| 针对扰动作用下的四旋翼无人机跟踪控制问题,基于区间观测器设计了几何跟踪控制策略.首先,对于一
类由外源系统生成的扰动,在龙伯格观测器的基础上借助区间估计技术设计了扰动区间观测器,实现了对扰动上下
界的估计;其次,利用扰动区间信息设计了扰动效应指示器以判断扰动对四旋翼无人机姿态的影响,构建了内环几
何控制器;然后,基于扰动估计信息设计了外环位置控制器,保证了跟踪误差满足预设的约束,并证明了跟踪误差是
有界的;最后,通过仿真验证了该方法的有效性. |
| 英文摘要 |
| In this paper, a geometric tracking control strategy based on interval observer is designed to solve the tracking
control problem of quadrotor under disturbances. Firstly, for a class of disturbances generated by some exogenous systems,
a disturbance interval observer is constructed on the basis of the Luenberger observer by using the interval estimation
technique, which realizes the estimation of the upper bounds and the lower bounds of disturbances. Secondly, in order
to evaluate the effect of disturbance on the attitude of the quadrotor, a disturbance effect indicator is designed using the
disturbance interval information, and an inner loop geometric controller is constructed. Then, exploiting the information
of disturbance obtained by the interval observer, an outer loop position controller is proposed to ensure that the tracking
error meets the predetermined constraints, and the tracking errors are proved to be bounded. Finally, the effectiveness of
the proposed control strategy is verified by simulations. |
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