[1]孙慧玉,宋光明,刘盛松,等.基于非线性扰动观测器的四旋翼鲁棒编队控制[J].东南大学学报(自然科学版),2017,47(5):926-932.[doi:10.3969/j.issn.1001-0505.2017.05.014]
 Sun Huiyu,Song Guangming,Liu Shengsong,et al.Robust formation control of UAVs based on nonlinear disturbance observer[J].Journal of Southeast University (Natural Science Edition),2017,47(5):926-932.[doi:10.3969/j.issn.1001-0505.2017.05.014]
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基于非线性扰动观测器的四旋翼鲁棒编队控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
47
期数:
2017年第5期
页码:
926-932
栏目:
自动化
出版日期:
2017-09-20

文章信息/Info

Title:
Robust formation control of UAVs based on nonlinear disturbance observer
作者:
孙慧玉1宋光明1刘盛松2韦中1张勇1尤剑1
1东南大学仪器科学与工程学院, 南京210096; 2江苏电力公司电力调度控制中心, 南京210029
Author(s):
Sun Huiyu1 Song Guangming1 Liu Shengsong2 Wei Zhong1 Zhang Yong1 You Jian1
1 School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
2 Electric Power Dispatching and Control Center, Jiangsu Electric Power Company, Nanjing 210029, China
关键词:
四旋翼飞行器 非线性扰动观测器 编队飞行 鲁棒性分析
Keywords:
unmanned aerial vehicle nonlinear disturbance observer formation flight robustness analysis
分类号:
TP249
DOI:
10.3969/j.issn.1001-0505.2017.05.014
摘要:
为了补偿四旋翼飞行器编队飞行过程中受到的模型不确定性和外部干扰,提出了一种分布式非线性扰动观测器(NDOB).首先,考虑四旋翼模型不确定性和外部干扰,提出了一种新的四旋翼动力学模型.其次,在四旋翼飞行器的内部姿态回路中应用非线性扰动观测器,并且引入低通滤波器以滤除低频干扰.最后,引入风和不规则负载作为线性/非线性外部干扰,将NDOB控制器应用在领导-跟随的四旋翼编队中.仿真结果表明,在该观测器的作用下,扰动观测器能够完全抑制系统外部的线性风扰动,编队队形的整体偏移率在xy轴上分别下降到0.01%和0.5%.对于非线性不规则负载运输实验,非线性扰动观测器对扰动的补偿率达到99.36%,能够有效地补偿四旋翼飞行器编队飞行过程中受到的模型不确定性和外部干扰.
Abstract:
A decentralized nonlinear disturbance observer(NDOB)was proposed for achieving a robust formation of UAVs subjected to the model uncertainties and external disturbances. Firstly, the dynamics model of the unmanned aerial vehicle(UAV), considering the model uncertainties and external disturbances was developed. Then, the NDOB controller was applied in the inner attitude loop of each UAV and a low pass filter was introduced to filter out the low frequency disturbances. Finally, the wind and the irregular loads were introduced as the linear and nonlinear external disturbances, applied to the leader-follower controlled formation of UAVs. The simulation results show that the disturbance observer can completely suppress the external linear wind disturbance and the overall offset of the formation can be reduced to 0.01% and 0.5% on the x and y axes, respectively. For the nonlinear irregular load transport experiment, the compensation rate of the disturbance is up to 99.36%, compensating for the model uncertainty and the external disturbance during the flight.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2017-02-27.
作者简介: 孙慧玉(1989—), 女, 博士生; 宋光明(联系人), 男, 博士, 教授, 博士生导师, mikesong@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(61375076)、江苏省普通高校研究生科研创新计划资助项目(KYLX16_0192).
引用本文: 孙慧玉,宋光明,刘盛松,等.基于非线性扰动观测器的四旋翼鲁棒编队控制[J].东南大学学报(自然科学版),2017,47(5):926-932. DOI:10.3969/j.issn.1001-0505.2017.05.014.
更新日期/Last Update: 2017-09-20