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摘要
This paper presents a model-free control method driven by finite-time convergent extended state observers (FTCESOs) for a low-cost quad-rotor vehicle (QRV) in the presence of various disturbances, including unmodeled aerodynamics, parametric perturbations, and external sustained/time-varying disturbances. The motion of QRV is divided into six independent second order SISO systems with similar structure, in which, the external disturbances, unmodeled dynamics, and coupling terms are merged into a generalized disturbance. For each SISO system, an FTCESO is developed to estimate the states and the generalized disturbance from known input and measured output signals. Then a homogenous method based controller contained a term of disturbance cancelation is derived. Feeding with the known input and output signals, the proposed controller is independent to system model. The stability and convergence of the closed-loop system are verified by theoretical analysis. In simulation experiments, various uncertainties, including unmodeled aerodynamics, external sustained and time varying disturbances, and parametric perturbations, are considered in the flight control of QRV. The convincing simulation results reveal the proposed method perfectly accommodates various uncertainties and achieves excellent trajectory tracking performance.
- 出版日期2016-2
- 单位中南大学
