Four-rotor unmanned aerial vehicle feedback linearization control method based on fuzzy extended state observer

Abstract

The invention provides a four-rotor unmanned aerial vehicle feedback linearization control method based on a fuzzy extended state observer. The method comprises the following steps: establishing a four-rotor unmanned aerial vehicle system model, and initializing the system state and controller parameters; designing a tracking differentiator; designing a non-linear extended state observer; establishing a fuzzy rule; and designing a feedback linearization controller. The designed extended state observer is used for estimating system model uncertainty and external disturbance; through a pole assignment method, an initial value of the parameters of the extended state observer can be determined; through introduction of the fuzzy rule, the parameters of the extended state observer are subjected to on-line setting; and through feedback linearization, a closed-loop system is approximate to a linear system, thereby improving system stability, ensuring system tracking error can be quickly stabilized and converges to zero, and realizing quick and stable position tracking and posture adjustment of a four-rotor unmanned aerial vehicle. The method solves the problem of system model uncertainty and external disturbance, improves system performance and realizes quick and stable position tracking and posture adjustment of the system.

Description

technical field [0001] The invention relates to a four-rotor unmanned aerial vehicle feedback linearization control method based on a fuzzy extended state observer. Aiming at the four-rotor unmanned aerial vehicle system that has coupled nonlinear items and is susceptible to external interference, it can achieve position tracking and tracking with good precision. gesture control. Background technique [0002] In recent years, the rotor UAV has become one of the research hotspots of frontier scholars at home and abroad. As a typical rotor UAV, the quadrotor UAV is characterized by its small size, good maneuverability, simple design, and no risk of casualties. With the advantages of low manufacturing cost, it is widely used in civil and military fields such as aircraft model industry, aerial photography, power security, marine monitoring, meteorological detection, urban fire protection, agricultural and forestry operations, forest fire prevention, anti-drug and emergency rescu...

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Problems solved by technology

[0004] In order to overcome the problems of unmeasurable part of the state and disturbance of the existing system, and the difficulty in setting the parameters of the extended state observer, the present invention proposes a four-rotor UAV feedback linearization control method based on the fuzzy extended state observer, and designs the extended state observation The Extended State Observer (ESO) estimates the system state and external disturbances and other unmeasurable items and compensates them. At the same time, fuzzy rules are introduced to adjust the parameters of the extended state observer online. Finally, a feedback linearization controller is designed to realize quadrotor Fast and stable position tracking and attitude adjustment of drones

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