基于自抗扰控制器的微型四旋翼无人机飞行控制

摘要

提出了一种基于自抗扰控制器的微型四旋翼无人机飞行控制的新方法。首先计算出在惯性坐标系上的传递函数，然后设计出匹配的自抗扰控制器和PID控制器。与传统的PID控制比较，该控制器在风扰动下的Simulink仿真结果表明，自抗扰控制策略有更好的控制效果和抗干扰性能。%A novel approach to the flight control of micro quad-rotor UAV based on Active Disturbance Rejection Control er (ADRC) is presented in this paper.To begin with,the transfer function worked out in the inertial coordinate system.A matched ADRC control er and PID control er is designed.Compared with the classical PID control,the simulation results with wind distur-bance simulation demonstrate that the ADRC strategy can obtain better effect and disturbance rejection properties.