基于极值搜索的四旋翼无人机姿态跟踪控制

doi:10.11959/j.issn.2096-6652.202337

Abstract

Abstract:

A robust control method based on extremum seeking is proposed for the attitude tracking problem of quadrotor UAV with uncertainty. Firstly, a nonlinear attitude model of a four rotor UAV was established, and considering the uncertainty of model parameters, a robust controller was designed to ensure the dynamic boundedness of tracking errors. Secondly, a learning-based controller was designed by combining a robust controller with a model-free learning algorithm, which automatically and iteratively adjusted the feedback gain of the robust controller and optimized the expected performance cost function online. Finally, numerical simulations were performed using MATLAB, which demonstrated a reduction of 0.246 in the steady-state tracking error of the proposed control method compared to the classical robust control method. This result confirms the robustness and superiority of the proposed method.

Key words: quadrotor UAV, attitude tracking, extremum seeking, feedback gain tuning

CLC Number:

TP273

Dali GUO,Zhongyuan ZHAO,Zijuan LUO. Attitude tracking control for quadrotor UAVs based on extremum seeking[J]. Chinese Journal of Intelligent Science and Technology, 2023, 5(4): 486-493.

Figures/Tables 8

参数	数值	参数	数值
$J 1$	$0.047 k g ⋅ m 2$	$l$	$0.245 m$
$J 2$	$0.047 k g ⋅ m 2$	$K 1$	$0.01 N s / m$
$J 3$	$0.102 k g ⋅ m 2$	$K 2$	$0.01 N s / m$
$c$	$0.0083$	$K 3$	$0.01 N s / m$

References 17

1	王成,杨杰,姚辉,等. 四旋翼无人机飞行控制算法综述[J]. 电光与控制, 2018, 25(12): 53-58.
	WANG C, YANG J, YAO H, et al. An overview of flight control algorithms for quadrotors[J]. Electronics Optics and Control, 2018, 25(12): 53-58.
2	张智轩, 李涛, 伍鹏飞, 等. 改进混沌粒子群算法的四旋翼PID姿态控制[J]. 电光与控制, 2022, 29(3): 16-20.
	ZHANG Z X, LI T, WU P F, et al. Quad-rotor PID parameter tuning based on improved chaotic particle swarm optimization[J].Electronics Optics and Control, 2022, 29(3): 16-20.
3	郭妍, 吴美平, 唐康华, 等.基于积分反步法的四旋翼飞行器控制设计[J].智能科学与技术学报, 2019, 1(2):133-139.
	GUO Y, WU M P, TANG K H, et al. Integral back-stepping algorithm for designing the quadrotor aircraft controller[J]. Chinese Journal of Intelligent Science and Technology, 2019,1(2):133-139.
4	孔凡国, 李肇星, 张健存, 等.四轴飞行器——倒立摆系统的控制算法研究[J].智能科学与技术学报, 2019, 1(2): 140-144.
	KONG F G, LI Z X, ZHANG J C, et al. Research on control algorithm of a four axis air vehicle-inverted pendulum system[J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(2): 140-144.
5	修杨, 邓宏彬, 危怡然,等. 基于参数估计的四旋翼无人机自适应鲁棒路径跟随控制器[J]. 兵工学报, 2022, 43(8):1926-1938.
	XIU Y, DENG H B, WEI Y R, et al. Adaptive robust path following controller for quadrotor UAVs based on parameter estimation[J]. Acta Armamentarii, 2022, 43(8):1926-1938.
6	BENOSMAN M. Learning-based adaptive control: an extremum seeking approach-theory and applications[M]. Oxford: Butterworth-Heinemann, 2016.
7	PREMKUMAR M, KUMAR C, SOWMYA R, et al. A novel salp swarm assisted hybrid maximum power point tracking algorithm for the solar photovoltaic power generation systems[J]. Automatika, 2021, 62(1): 1-20.
8	CHAUDHARI S D, SHENDGE P D, PHADKE S B. Dynamic nonlinear gradient observer based extremum seeking control for optimum braking[J]. IEEE Transactions on Industrial Electronics, 2021, 69(3): 2833-2842.
9	BURNS D J, LAUGHMAN C R, GUAY M. Proportional–integral extremum seeking for vapor compression systems[J]. IEEE Transactions on Control Systems Technology, 2018, 28(2): 403-412.
10	陈万考, 郭玉英. 基于极值搜索的四旋翼无人机自抗扰控制[J]. 飞行力学, 2021, 39(1): 54-59, 65.
	CHEN W K, GUO Y Y. Extremum seeking based active disturbance rejection control for quadrotor UAV[J]. Flight Dynamics, 2021, 39(1): 54-59, 65.
11	许海洋, 郭玉英. 基于极值搜索算法的四旋翼姿态PID控制[J]. 传感器与微系统, 2022, 41(4):100-103.
	XU H Y, GUO Y Y. PID control of quadrotor attitude based on extreme seeking algorithm[J]. Transducer and Microsystem Technologies, 2022, 41(4):100-103.
12	BENOSMAN M, KRSTI? M, GUAY M, et al. Editorial for the special issue on extremum seeking control: theory and applications[J]. International Journal of Adaptive Control and Signal Processing, 2021, 35(7): 1140-1142.
13	BENOSMAN M, ATIN? G M. Nonlinear learning-based adaptive control for electromagnetic actuators[C]//Proceedings of 2013 European Control Conference (ECC). Piscataway: IEEE Press, 2013: 2904-2909.
14	孙妙平, 刘静静, 年晓红, 等. 基于区间矩阵的四旋翼无人机鲁棒跟踪控制[J]. 控制理论与应用, 2017, 34(2): 168-178.
	SUN M P, LIU J J, NIAN X H, et al. Robust tracking control of a quad-rotor unmanned aerial vehicle via interval matrix[J]. Control Theory&Applications, 2017, 34(2): 168-178.
15	BENOSMAN M, LUM K Y. Passive actuators' fault-tolerant control for affine nonlinear systems[J]. IEEE Transactions on Control Systems Technology, 2009, 18(1): 152-163.
16	KOGA S, BENOSMAN M, BORGGAARD J. Extremum seeking‐based observer design for reduced order models of coupled thermal and fluid systems[J]. International Journal of Adaptive Control and Signal Processing, 2021, 35(7): 1316-1335.
17	ROTEA M A. Analysis of multivariable extremum seeking algorithms[C]//Proceedings of the 2000 American Control Conference. Piscataway: IEEE Press, 2000: 433-437.

Metrics

Recommended 0

No Suggested Reading articles found!

[1]	Wenzhu LAI, Dewang CHEN, Zhenfeng HE, Xinguo DENG, CARLO Marano GIUSEPPE. Overview of metro train driving technology development:from manual driving to intelligent unmanned driving [J]. Chinese Journal of Intelligent Science and Technology, 2022, 4(3): 335-343.
[2]	Yun WANG, Meiyun WANG, Jian ZHOU, Yuanyuan ZOU, Shaoyuan LI. Dynamic configuration of distribution network based on improved hierarchical clustering and GL-APSO algorithm [J]. Chinese Journal of Intelligent Science and Technology, 2022, 4(3): 410-417.
[3]	Shuai MA, Qiming FU, Jianping CHEN, Fan FENG, You LU, Zhengwei LI, Shunian QIU. HVAC model-free optimal control method based on double-pools DQN [J]. Chinese Journal of Intelligent Science and Technology, 2022, 4(3): 426-444.
[4]	Zehua LIAO, Ziyu LIANG, Tianmin ZHOU, Jingwei LU, Qinglai WEI. Parallel control-based event-driven approximate optimal control of discrete-time nonlinear systems [J]. Chinese Journal of Intelligent Science and Technology, 2021, 3(4): 435-443.
[5]	Yingying LIU, Zhanshan WANG. Output synchronization of heterogeneous multi-agent system:a reinforcement learning approach based on data [J]. Chinese Journal of Intelligent Science and Technology, 2020, 2(4): 394-400.
[6]	Limin QUAN,Cuili YANG,Junfei QIAO. CFNN-based online control for dissolved oxygen concentration of wastewater treatment processes [J]. Chinese Journal of Intelligent Science and Technology, 2020, 2(3): 261-267.
[7]	Hongqing DU,Dewang CHEN,Yunhu HUANG,Fenghua ZHU,Lingxi LI. A fuzzy system optimization modeling method based on improved genetic algorithm and support degree [J]. Chinese Journal of Intelligent Science and Technology, 2020, 2(2): 179-185.
[8]	Xiangang LI,Qiang LI. Technical analysis of typical intelligent game system and development prospect of intelligent command and control system [J]. Chinese Journal of Intelligent Science and Technology, 2020, 2(1): 36-42.
[9]	Dewang CHEN,Jijie CAI,Yunhu HUANG. Development prospect of fuzzy system oriented to interpretable artificial intelligence and big data [J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(4): 327-334.
[10]	Fanguo KONG,Zhaoxing LI,Jiancun ZHANG,Gang XIONG,R.Nyberg Timo. Research on control algorithm of a four axis air vehicle-inverted pendulum system [J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(2): 140-144.

Attitude tracking control for quadrotor UAVs based on extremum seeking

RichHTML

PDF下载

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 8

References 17

Related Articles 10

Metrics

Recommended 0