Model compensation optimal control for quadrotor UAV system
Aiming at the time-varying,model deviation,disturbance and other problems of the quadrotor UAV system,a disturbance rejection optimal control algorithm is proposed.This paper sets forth a simple nonlinear quadratic regulator(NLQR),and then introduces a high-precision compensation function observer(CFO)to propose on optimal control algo-rithm of model compensation quadratic regulator(MCQR),and gives the stability of single channel closed loop system.This is a model independent or partially dependent nonlinear optimal control method.The estimated value using the CFO is fed back to the nonlinear quadratic regulator in real time to compensate the nonlinear model deviation and disturbance.In the simulation,the MCQR based on CFO realizes the stability control of the quadrotor UAV in position and attitude,and has outstanding advantages in transient performance,tracking steady-state accuracy,anti-interference and time-varying load capacity,at the same time,the superiority and effectiveness of the proposed control algorithm is also verified in the quadrotor aircraft control algorithm development platform based on Pixhawk.
quadrotor UAVoptimal control systemscompensation function observerhigh order differentialnonlinear quadratic regulatormodel compensation quadratic regulatorextended state observer
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维普
