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首页> 外文期刊>Mechanical systems and signal processing >Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator
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Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator

机译：通过扩展状态观测器和S形跟踪微分器对四旋翼进行稳健的反步输出反馈轨迹跟踪

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摘要

In this paper, a robust back-stepping output feedback trajectory tracking controller is proposed for quadrotors subject to parametric uncertainties and external disturbances. Based on the hierarchical control principle, the quadrotor dynamics is decomposed into transla-tional and rotational subsystems to facilitate the back-stepping control design. With given model information incorporated into observer design, a high-order extended state observer (ESO) that relies only on position measurements is developed to estimate the remaining unmeasurable states and the lumped disturbances in rotational subsystem simultaneously. To overcome the problem of "explosion of complexity" in the back-stepping design, the sigmoid tracking differentiator (STD) is introduced to compute the derivative of virtual control laws. The advantage is that the proposed controller via output-feedback scheme not only can ensure good tracking performance using very limited information of quadrotors, but also has the ability of handling the undesired uncertainties. The stability analysis is established using the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed control scheme in achieving a guaranteed tracking performance with respect to an 8-shaped reference trajectory.
机译：本文针对具有参数不确定性和外部干扰的四旋翼飞机，提出了一种鲁棒的反步输出反馈轨迹跟踪控制器。基于分层控制原理，将四旋翼动力学分解为平移和旋转子系统，以方便进行反步控制设计。通过将给定的模型信息纳入观测器设计，开发了仅依赖于位置测量的高阶扩展状态观测器（ESO），以同时估算剩余的不可测量状态和旋转子系统中的集总扰动。为了克服后推设计中的“复杂性爆炸”问题，引入了S型跟踪微分器（STD）来计算虚拟控制律的导数。优点在于，所提出的控制器通过输出反馈方案不仅可以使用非常有限的四旋翼信息来确保良好的跟踪性能，而且还具有处理不希望的不确定性的能力。稳定性分析是使用李雅普诺夫理论建立的。仿真结果证明了所提出的控制方案在实现针对8形参考轨迹的有保证的跟踪性能方面的有效性。

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  • 来源
    《Mechanical systems and signal processing》 |2018年第may1期|631-647|共17页
  • 作者

    Xingling Shao; Jun Liu; Honglun Wang;

  • 作者单位

    Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, China,National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan 030051, China;

    Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, North University of China, Taiyuan 030051, China,National Key Laboratory for Electronic Measurement Technology, School of Instrument and Electronics, North University of China, Taiyuan 030051, China;

    School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Extended state observer (ESO); Output feedback; Back-stepping; Quadrotor; Explosion of complexity; Sigmoid tracking differentiator;

    机译：扩展状态观察器（ESO）;输出反馈;后退;四旋翼爆炸性的复杂性;乙状结肠微分器;

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