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Optimal robust control for attitude of quad-rotor aircraft based on SDRE

机译：基于SDRE的四旋翼飞行器姿态最优鲁棒控制

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摘要

The attitude control is the key of the automatic flight for a quad-rotor aircraft. In order to guarantee the robustness of the quad-rotor aircraft for various uncertainties, a new design method of the robust optimal control that integrates the sliding mode control theory with state-dependent Riccati equation (SDRE) is proposed in this paper. First, the whole attitude kinematical model is obtained. By using the SDRE approach, an optimal control law of the attitude for quad-rotor aircraft without uncertainties is obtained. Then, the sliding mode control theory combing with SDRE is applied to improve the robustness of the quad-rotor aircraft. As a result, the system is robust optimal to the parameters variations or extraneous disturbances and the stability is proved. Finally, the validity and robustness of the proposed algorithm are verified by simulation results.
机译：姿态控制是四旋翼飞机自动飞行的关键。为了保证四旋翼飞行器在各种不确定性条件下的鲁棒性，提出了一种新的鲁棒最优控制设计方法，该方法将滑模控制理论与状态相关的里卡提方程（SDRE）相结合。首先，获得整个姿态运动模型。通过使用SDRE方法，获得了四旋翼飞行器姿态的最优控制律，并且没有不确定性。然后，将滑模控制理论与SDRE相结合，以提高四旋翼飞行器的鲁棒性。结果，该系统对于参数变化或外部干扰具有鲁棒性，并且证明了稳定性。最后，通过仿真结果验证了所提算法的有效性和鲁棒性。

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