【摘要】 针对四旋翼无人机(UAV)在实际飞行中易受负载系统的重量、质心、转动惯量等不确定性影响飞行稳定性的问题，设计出基于自适应变载荷补偿的模糊自抗扰控制系统。首先，利用模糊控制器能在线对非线性状态误差反馈控制律参数进行实时调节，解决了自抗扰控制器中参数缺乏在线自整定的问题。其次，利用自适应控制器对载荷系统中重量和质心偏移量的变化进行跟踪估计，并用估计值来修正自抗扰补偿系数，提升系统控制精度和抗扰动性。最后，通过仿真实验将此算法与串级比例—积分—微分(PID)、自适应反步法以及传统自抗扰控制算法比较，得出该算法具有抗干扰能力更强，自适应性更好等优势，并进行变载荷实物飞行实验验证算法的有效性。更多还原

【Abstract】 Aiming at the problem that unmanned aerial vehicle(UAV)is easily affected by the weight, center of mass, moment of inertia and other uncertainties of the load system in actual flight, a fuzzy active disturbance rejection controller(ADRC)system based on adaptive variable load compensation is designed.First of all, the fuzzy controller can be used to adjust the parameters of the nonlinear state error feedback control law online in real time, which solve the problem that the parameters in ADRC lack of online self-tuning ability.Secondly, the adaptive controller is used to track and estimate the changes of weight and centroid offset in the load system, and the estimated value is provided to the auto disturbance rejection compensation coefficient, which can further improve the control precision and anti disturbance.Finally, through the simulation experiment, the algorithm is compared with cascade proportion-integration-differentiation(PID),adaptive backstepping and traditional ADRC algorithm.It is concluded that the algorithm has stronger anti-interference ability and better adaptability, and the validity of the algorithm is verified by real flight experiment.更多还原