摘要
针对具有不确定性四旋翼无人机姿态跟踪问题,提出了基于极值搜索的鲁棒控制方法。首先,建立四旋翼无人机非线性姿态模型,并考虑模型参数的不确定性,设计鲁棒控制器来确保跟踪误差动态的有界性。然后,将鲁棒控制器与无模型学习算法结合,设计基于学习的控制器,从而自动迭代地调整鲁棒控制器的反馈增益,并在线优化期望性能成本函数。最后,通过MATLAB进行数值仿真,所述控制方法的系统稳态跟踪误差相较于经典鲁棒控制方法降低了0.246,证明了所述方法鲁棒性和优越性。
A robust control method based on extremum seeking is proposed for the attitude tracking problem of quadrotor UAV with uncertainty.Firstly,a nonlinear attitude model of a four rotor UAV was established,and considering the uncertainty of model parameters,a robust controller was designed to ensure the dynamic boundedness of tracking errors.Secondly,a learning-based controller was designed by combining a robust controller with a model-free learning algorithm,which automatically and iteratively adjusted the feedback gain of the robust controller and optimized the expected performance cost function online.Finally,numerical simulations were performed using MATLAB,which demonstrated a reduction of 0.246 in the steady-state tracking error of the proposed control method compared to the classical robust control method.This result confirms the robustness and superiority of the proposed method.
作者
郭大力
赵中原
罗子娟
GUO Dali;ZHAO Zhongyuan;LUO Zijuan(College of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;The 28th Research Institute of China Electronics Technology Group Corporation,Nanjing 210007,China)
出处
《智能科学与技术学报》
CSCD
2023年第4期486-493,共8页
Chinese Journal of Intelligent Science and Technology
基金
江苏省自然科学基金项目(No.BK20200824)
南京信息工程大学人才启动经费项目(No.2019r082)。
