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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers >Robust output feedback trajectory tracking for quadrotors
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Robust output feedback trajectory tracking for quadrotors

机译：四旋翼的鲁棒输出反馈轨迹跟踪

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摘要

This paper focuses on robust output tracking control for quadrotors exposed to parametric uncertainties and external disturbances. Based on the back-stepping control principle, the quadrotor dynamics is decomposed into translational and rotational subsystems. To handle the limitation of traditional extended state observer that can only be effective for integral-chain systems, a high-order extended state observer with special structure is developed to estimate the unmeasurable states and the lumped disturbances in rotational subsystem simultaneously. To avoid the tedious analysis and repeated differentiation of virtual control laws in the back-stepping technique, a first-order sliding mode differentiator is introduced to compute the derivative of virtual control law at each step in the presence of disturbances. 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：本文着重于鲁棒的输出跟踪控制，该控制适用于暴露于参数不确定性和外部干扰的四旋翼。基于反步控制原理，将四旋翼动力学分解为平移和旋转子系统。为了解决传统的扩展状态观察器只能对积分链系统有效的局限性，开发了一种具有特殊结构的高阶扩展状态观察器，以同时估计旋转子系统中的不可测量状态和集总扰动。为了避免在后推技术中对虚拟控制律进行繁琐的分析和重复区分，引入了一阶滑模微分器来计算存在干扰的每一步的虚拟控制律的导数。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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