Predictive Control for Quadrotor UAV Attitude Stabilization Model with Input Constraints and Disturbance Compensation
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.
input constraintsdisturbance compensationquadrotorattitude stabilizationmodel predictive control
万方数据
维普
