Robust Predictive Control of Nonplanar Fully-actuated UAVs
Targeting the problem that nonplanar fully-actuated unmanned aerial vehicles(UAVs)are susceptible to external winds and unmodeled dynamics,the predictive control system with good robustness is designed.A nonlinear motion model with six degrees of freedom is established through the Newton-Euler approach.A linear extended state observer is designed to estimate the state variables by transforming the system affected by matched and unmatched disturbances into an equivalent system only affected by the matched disturbances.A predictive controller is designed for the equivalent system to reduce the output oscillation and input surging and a disturbance compensator is also designed to improve the system robustness.Simulation results show that,compared to the conventional nonlinear dynamic inverse control method,the proposed algorithm-based closed-loop system has the stronger anti-interference capability and higher trajectory tracking accuracy.
万方数据
维普
