In order to solve the problem of attitude control during the flight of quadrotor unmanned aerial vehicles(UAVs),and consider the influence of actuator input constraints and external unknown disturbances,a model predictive control method for quadro-tor UAV attitude stability with input constraints and disturbance compensation is designed;the quadrotor UAV attitude dynamics model is simplified to reduce the complexity of controller,design the controller with the input constraints,simulate the saturated in-put phenomena,and realize the quadrotor attitude stability control under the saturated input;The wind disturbance observation is de-signed to realize the estimation of external unknown disturbances,effectively track the external continuous disturbances,and imple-ment the disturbance compensation law;it achieves the optimal control law with the disturbance compensation law around the cost function,which applies in the quadrotor attitude system to realize the quadrotor UAV attitude stabilization control;Finally,the nu-merical simulation results show that the designed method and nonlinear predictive control without observer method(NMPC)are simu-lated and tested,with a wind disturbance observer parameter λi of 0.25,prediction time domain Np of 10,and control time domain Nc of 9,it verifies the effectiveness and superiority of the control method.
关键词
输入约束/扰动补偿/四旋翼/姿态稳定/模型预测控制
Key words
input constraints/disturbance compensation/quadrotor/attitude stabilization/model predictive control
维普
万方数据