【摘要】 针对含有外部扰动的四旋翼飞行器姿态系统,提出了一种基于扰动观测器的预定义时间姿态跟踪控制方案。首先,构造了一个新颖的预定义时间扰动观测器用以估计和补偿外部扰动,进而提高系统的抗扰性能和稳态精度。在此基础上,设计了双环预定义时间控制器。与现有的预定义控制方案相比,所提方案将二阶系统拆分为2个一阶系统,避免了控制器设计过程中产生的奇异性问题;并利用预定义时间扰动观测器补偿内环,保证了四旋翼飞行器姿态在预定义时间内收敛。最后,通过对比实验验证了算法的有效性和优越性。更多还原

【Abstract】 In this paper, a disturbance observer-based predefined-time control scheme is proposed for the attitude tracking of quadrotors with the influence of external disturbance. Firstly, a novel predefined-time disturbance observer is constructed to estimate and compensate the external disturbance, thereby improving the disturbance immunity performance and steady-state accuracy of the system. On this basis, a dual-loop predefined-time controller is designed. Compared with the existing predefined-time control schemes, the proposed scheme splits the second-order system into two first-order systems, which avoids the singularity problem arising in the controller design process.The predefined-time disturbance observer is used to compensate for the inner ring to ensure the convergence of the quadrotors’ attitude within a predefined time. Finally, the effectiveness and superiority of the algorithm are verified by comparative experiments.更多还原