四旋翼无人机滑模自抗扰控制

doi:10.16088/j.issn.1001-6600.2018.02.008

Abstract

Abstract: In this paper, a sliding mode active disturbance rejection controller is designed based on active disturbance rejection control and sliding mode control for quadrotor unmanned aerial vehicle, which is susceptible to nonlinearity, multiple targets, limit of control and other disturbance of uncertainties. Considering the unknown attitude angle velocity of the controlled targets, the controller can observe the attitude angular velocity and unknown interference of UAV by designing the extended state observer. The estimated angular velocity is used for the feedback of controller, meanwhile the observed disturbance compensates the amount of control. Based on Lyapunov theory, the stability of the control system is proved. The simulation results show that sliding mode active disturbance rejection controller can guarantee the fast convergence of the observed error, realize the high accuracy estimation of the observed amount, and continue to keep a stable attitude control without the angular velocity feedback.

Key words: quadrotor unmanned aerial vehicle, extended state observer, sliding mode control, active disturbance rejection control, attitude control

CLC Number:

TP273

TANG Tang,LUO Xiaoshu,Lü Wande,LIU Xin. Sliding Mode Active Disturbance Rejection Control of Quadrotor Unmanned Aerial Vehicle[J].Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(2): 56-62.

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