四旋翼飞行器自适应反演姿态控制

摘要

In order to solve the stabilized attitude control problem of quadrotor aircraft, a kinematics model is estab⁃lished according to Newton's second law and Euler equation. Next, the model is simplified to solve the attitude con⁃trol problem. After that, the attitude control system is divided into 3 second⁃order subsystems and each subsystem is designed by the back⁃stepping control method. Next, an integral term is introduced by applying the adaptive control law to compensate the errors caused by simplified model, thereby improving robustness of the system against exter⁃nal disturbance and uncertainty of the system model. The simulation results using Matlab show that the stabilized at⁃titude control of quadrotor aircraft has a strong inhibitory effect using the improved adaptive integral back⁃stepping controller and it guarantees global stability in the case of uncertain model parameters.%为了解决四旋翼飞行器控制系统的姿态稳定控制问题，首先根据牛顿第二定律和欧拉方程建立了四旋翼飞行器运动学模型，并针对姿态控制问题对模型进行简化，然后把姿态控制系统分成3个二阶子系统，运用反演法对各个子系统分别设计，进一步运用自适应控制律引入积分项，补偿由模型简化引起的模型误差，从而提高系统对外部扰动和系统模型不确定性的鲁棒性。最后通过Matlab仿真验证出，改进的自适应积分反演控制器在四旋翼的姿态控制中对外部干扰信号有较强抑制作用，可以保证在模型参数不确定的情况下的全局稳定性。