四旋翼飞行器自适应反演姿态控制器设计

摘要

针对四旋翼飞行器的非线性、强耦合控制问题,提出了一种自适应反演控制器设计方法.通过引入一阶低通滤波器来获取虚拟控制量的一阶导数,避免了虚拟控制量的复杂求导计算.采用充分光滑的投影算子对模型非匹配不确定项进行估计和补偿,放宽了传统投影算子对已知不确定项的上、下界的要求,同时抑制了“参数漂移”.仿真结果表明,该控制器具有良好的控制效果和鲁棒性.%An adaptive backstepping controller was designed for quadrotor UAV with non-linear and couplings.In order to obtain the virtual control item derivatives,low-pass first order filter was introduced.A sufficiently smooth projection operator was employed to estimate and compensate the model unmatched uncertainties for the sake of the inhibition of the parametrical drift and broaden the request of traditional projection operator which is conscious of the upper and the lower bounds of the uncertainties.Simulation results show that the designed controller possesses productive control effect and robustness.