Adaptive robust anti-disturbance attitude control for quadrotors
The high-performance attitude controller can effectively suppress comprehensive effects caused by uncertainties and external dynamic disturbances，and ensure that the quadrotor can safely and reliably fly to complete the designated mission. Therefore，nonlinear uncertainties of quadrotor flight system...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Department of Advances in Aeronautical Science and Engineering
2025-02-01
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| Series: | Hangkong gongcheng jinzhan |
| Subjects: | |
| Online Access: | http://hkgcjz.cnjournals.com/hkgcjz/article/abstract/2023083 |
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| Summary: | The high-performance attitude controller can effectively suppress comprehensive effects caused by uncertainties and external dynamic disturbances，and ensure that the quadrotor can safely and reliably fly to complete the designated mission. Therefore，nonlinear uncertainties of quadrotor flight systems are approximated by a radial basis function neural network（RBFNN）quadrotor，and an extended state observer（ESO）is designed to estimate lumped disturbances caused by RBFNN approximation errors and external disturbances. The black box problem of RBFNN is solved by using a model identification error and a tracking error as decision variables. Then，an adaptive robust anti-disturbance attitude tracking controller is designed for quadrotor flight systems based on dynamic surface control and Lyapunov stability theory，and an auxiliary system is constructed to suppress the effect of filtering error on the closed-loop system performance. The results show that the quadrotor designed in this paper can precisely track the desired attitude angles，and the proposed controller has strong robustness and stability in the presence of uncertainties and disturbances. |
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| ISSN: | 1674-8190 |