Quadrotor aircraft control method based on pole assignment and fuzzy active-disturbance-rejection control technology

Abstract

The invention provides a quadrotor aircraft control method based on pole assignment and a fuzzy active-disturbance-rejection control technology. The method comprises the steps of: establishing a quadrotor aircraft system model, and initializing the system state and controller parameters; designing a high-order tracking differentiator; designing a non-linear expansion state observer; establishing a fuzzy rule; and adding non-linear feedbacks. The expansion state observer is designed for estimating uncertainty and external disturbance of the system model. The pole assignment method is utilized to determine initial values of parameters of the expansion state observer. The fuzzy rule is introduced to carry out online setting on the parameters of the expansion state observer. A non-linear feedback control rule is designed to ensure that the tracking error of the system rapidly and stably converges to zero, and rapid and stable position tracking and posture adjustment of the quadrotor aircraft are realized. The problems of uncertainty and external disturbance of the system model are solved, the influences of the system model uncertainty and external disturbance are compensated, the performance of the system is improved, and the rapid and stable position tracking and posture adjustment of the system are realized.

Description

technical field [0001] The invention designs a quadrotor aircraft control method based on pole configuration and fuzzy active disturbance rejection control technology, which is suitable for position tracking and attitude control of quadrotor aircraft with coupled nonlinear items and working in a strong interference environment. Background technique [0002] As a kind of rotor UAV, quadrotor aircraft has attracted wide attention from domestic and foreign universities, research institutions and companies due to its advantages of small size, good maneuverability, simple design and low manufacturing cost. Quadrotor aircraft are very suitable for civilian and military fields such as surveillance and reconnaissance. In the civilian field, quadrotor helicopters are mainly used in disaster relief, ground monitoring, high-altitude aerial photography, etc.; due to their high concealment and good reliability, they are also used in military fields such as battlefield monitoring and mili...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the problems of unmeasurable partial states and disturbances of the existing quadrotor aircraft control system, and the difficulty in setting the parameters of the extended state observer, the present invention proposes a quadrotor aircraft control method based on pole configuration and fuzzy active disturbance rejection control technology, through Track the differentiator to obtain the high-order differential of the input signal, use the extended state observer (Extended State Observer, ESO) to estimate the unmeasurable items such as the system state and external disturbance and compensate them, and introduce fuzzy rules at the same time, the extended state observer The parameters are adjusted online, and finally the control quantity is obtained by nonlinear feedback, so as to realize the fast and stable position tracking and attitude adjustment of the quadrotor aircraft

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