四旋翼飞行器姿态控制的鲁棒自适应H∞控制

Sadra Borji Monfared, A. Kalhor, M. A. Atashgah
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引用次数: 4

摘要

针对四旋翼飞行器的姿态控制问题,提出了一种新的自适应鲁棒H∞控制策略。采用欧拉-拉格朗日公式对系统进行建模。本文提出的基于非线性H∞的控制系统在存在外部干扰、参数不确定性和未建模动力学的情况下仍具有良好的镇定性能。最后,为了消除参数不确定性和外界干扰的影响,将参数估计用于实时估计力矩惯量参数和风。参数估计基于非线性H∞自适应规则,该规则将估计馈入线性参数,并通过Lyapunov稳定性理论证明了闭环的稳定性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robust Adaptive H∞ Control for Attitude Control of a Quadrotor
This paper proposes a new concept of adaptive robust H∞ control strategy for attitude control of a quadrotor flying robot. The system modeling is obtained by Euler-Lagrange formulation. New proposed control system which is developed based on nonlinear H∞ has a promising performance in terms of stabilization even in the presence of external disturbance, parametric uncertainties and unmodeled dynamics. Finally, in order to eliminate the effects of parametric uncertainties and external disturbance, parameters estimation is used to real time estimating of moment inertia parameters and wind. The parameter estimation is based on adaption rules of nonlinear H∞ which feeds the estimates to linear parameters and closed loop stability was shown by Lyapunov stability theory.
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