基于改进LESO的四旋翼无人机模糊线性自抗扰控制方法

李壮举; 杜朋达; 王宁

doi:10.12263/DZXB.20230854

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基于改进LESO的四旋翼无人机模糊线性自抗扰控制方法

学术论文 | 更新时间：2025-12-08

- 基于改进LESO的四旋翼无人机模糊线性自抗扰控制方法
- Fuzzy Linear Active Disturbance Rejection Control of a Quadrotor UAV via an Improved LESO
- 电子学报 2024年52卷第9期页码：3185-3194
- 作者机构：
  
  北京建筑大学电气与信息工程学院，北京 102627
- 作者简介：
  
  [ "李壮举男，1975年生于河南南阳.工学博士.研究方向为多变量系统解耦控制、复杂系统的控制研究、机器人技术研究. E-mail: lizhuangju@bucea.edu.cn" ]
  [ "杜朋达男，1998年1月出生于河北保定.硕士研究生.研究方向为复杂系统的控制研究、无人机技术研究. E-mail: 1339496421@qq.com" ]
  [ "王宁男，1998年12月出生于山西太原.硕士研究生.研究方向为非线性系统理论、自抗扰控制研究. E-mail: 912395151@qq.com" ]
- 基金信息：
  
  国家自然科学基金(62371032;62103032)
- DOI：10.12263/DZXB.20230854
  中图分类号： TP273
- 收稿：2023-09-11，
  
  修回：2024-01-11，
  
  纸质出版：2024-09-25
- 稿件说明：
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李壮举, 杜朋达, 王宁. 基于改进LESO的四旋翼无人机模糊线性自抗扰控制方法[J]. 电子学报, 2024, 52(09): 3185-3194.

LI Zhuang-ju, DU Peng-da, WANG Ning. Fuzzy Linear Active Disturbance Rejection Control of a Quadrotor UAV via an Improved LESO[J]. Acta Electronica Sinica, 2024, 52(09): 3185-3194.
李壮举, 杜朋达, 王宁. 基于改进LESO的四旋翼无人机模糊线性自抗扰控制方法[J]. 电子学报, 2024, 52(09): 3185-3194. DOI：10.12263/DZXB.20230854

LI Zhuang-ju, DU Peng-da, WANG Ning. Fuzzy Linear Active Disturbance Rejection Control of a Quadrotor UAV via an Improved LESO[J]. Acta Electronica Sinica, 2024, 52(09): 3185-3194. DOI：10.12263/DZXB.20230854

摘要

四旋翼无人机系统具有参数不确定性及强耦合性的特点，其飞行性能容易受到外部干扰而下降.为了保证四旋翼无人机飞行的稳定性，本文提出了一种基于改进线性扩张状态观测器（Linear Extended State Observer，LESO）的模糊线性自抗扰控制方法.通过模糊算法自适应调节线性自抗扰控制器的参数，基于Levant跟踪微分器跟踪四旋翼无人机位置及姿态角的二阶微分信号进而提取四旋翼无人机系统的总扰动，使用总扰动偏差及偏差的微分作为输入的模糊控制器来优化LESO对总扰动的估计精度.此外，分析了LESO的收敛性及闭环系统的稳定性.最后通过对比仿真验证了所提控制策略的有效性，并从系统的控制信号，动态响应能力和抗干扰能力等方面对控制方案的性能进行了定量分析.

Abstract

A quadrotor unmanned aerial vehicle (UAV) system is full of parameter uncertainties and strong couplings

and the performance of a quadrotor UAV is easily degraded by external disturbances.To ensure the flight stability of the quadrotor UAV

a fuzzy linear active disturbance rejection control based on an improved linear extended state observer(LESO) is proposed in this paper.Parameters of the linear active disturbance rejection control are adaptively adjusted by a fuzzy algorithm

and the second-order differential signal of position and attitude angle of the quadrotor UAV is extracted by a levant tracking differentiator

and then the total disturbance of the quadrotor UAV is extracted

the fuzzy controller takes the total disturbance deviation and its differential as input

thus optimizing the estimation accuracy of the LESO for the total disturbance.The convergence of the LESO and the stability of the closed-loop system are analyzed.Finally

the proposed control strategy is verified from the control signals

dynamic responses and of the robustness of the system.

关键词

Keywords

references

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