Nonlinear Control of Quadrotor Suspension System Based on Extended State Observer

被引：0
作者：
Fan Y.-S. [1 ,2 ]
Chen X.-Y. [1 ,2 ]
Zhao Y.-S. [1 ,2 ]
Song B.-J. [1 ,2 ]
机构：
[1] College of Marine Electrical Engineering, Dalian Maritime University, Dalian
[2] Key Laboratory of Technology, System for Intelligent Ships of Liaoning Province, Dalian
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2023年 / 49卷 / 08期
基金：
中国国家自然科学基金;
关键词：
extended state observer (ESO); integral back-stepping; Quadrotor; suspension flight;
D O I：
10.16383/j.aas.c210001
中图分类号：
学科分类号：
摘要：
In order to solve the problem of load swing suppression and precise control of trajectory tracking for a class of quadrotors, considering the unknown external disturbance and model dynamic uncertainty, a nonlinear trajectory tracking control method based on extended state observer (ESO) is proposed. In this paper, the quadrotor suspension flight system is divided into three dynamic subsystems: Attitude, position and swing angle of the suspending load. Nonlinear controllers are designed to realize decoupling control under drive constraints. An extended state observer is designed to estimate and compensate the unknown external disturbance and model dynamic uncertainty in coupled flight of quadrotor and suspended load, so as to ensure the stability of the closed-loop system, tracking error and all signals in suspension system are uniformly ultimately bounded. Finally, Quanser＇s Qball2 aircraft is used to track the spiral trajectory in three-dimensional space. The simulation results show the effectiveness and superiority of the proposed control method, and realize the precise control of the trajectory tracking of the quadrotor suspension system and the rapid suppression of the load swing during the flight. © 2023 Science Press. All rights reserved.
引用
收藏
页码：1758 / 1770
页数：12
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