Fuzzy Uncertainty Observer Based Adaptive Dynamic Surface Control for Trajectory Tracking of a Quadrotor
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摘要: 针对具有未知外界扰动和系统不确定性的四旋翼飞行器，提出了一种基于模糊不确定观测器（Fuzzy uncertainty observer，FUO）的自适应动态面轨迹跟踪控制方法.通过将四旋翼飞行器系统分解为位置、姿态角和角速率三个动态子系统，使得各子系统虚拟控制器能够充分考虑欠驱动约束；采用一阶低通滤波器重构虚拟控制信号及其一阶导数，实现四旋翼跟踪控制设计的迭代解耦；设计了一种模糊不确定观测器，用以估计和补偿未知外界扰动与系统不确定性，从而确保闭环系统的稳定性和跟踪误差与其他系统信号的一致有界性.仿真研究验证了所提出的控制方法的有效性和优越性.Abstract: In this paper, a dynamic surface trajectory tracking control scheme using a fuzzy uncertainty observer (FUO) is proposed for a quadrotor with unknown external disturbances and system uncertainties. The quadrotor system is divided into three subsystems, i.e., dynamics of positions, attitude angles, and angular velocities, and each subsystem has a virtual controller to tackle coresponding underactuated constraints. First-order filters are employed to reconstruct the designed virtual control signals together with their first derivatives required successively in the dynamic surface control, and thereby decoupling the iterative design of the quadrotor tracking control. Fuzzy uncertainty observers are designed to estimate and compensate the unknown nonlinearities including unknown external disturbances and uncertainties so as to contribute to the closed-loop system stability, uniformly ultimately bounded tracking errors and bounded states. Simulation studies demonstrate the effectiveness and superiority of the proposed trajectory tracking control scheme.1) 本文责任编委 孙富春
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图 3 $x$, $y$, $z$和$\psi$给定和实际状态
Fig. 3 Desired and actual states $x$, $y$, $z$ and $\psi$
表 1 四旋翼飞行器主要参数
Table 1 The main parameters of the quadrotor
m 1.2 kg Jx 0.015 kg·m2 Jy 0.015 kg·m2 Jz 0.026 kg·m2 Dx 10-6 N(m/s)-2 Dy 10-6 N(m/s)-2 Dz 10-4 N(m/s)-2 g 9.81 m/s2 
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