四旋翼无人直升机鲁棒飞行控制

doi:10.3724/SP.J.1218.2012.00519

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引用本文:
白永强, 刘昊, 石宗英, 钟宜生. 四旋翼无人直升机鲁棒飞行控制[J]. 机器人, 2012, 34(5): 519-524.DOI: 10.3724/SP.J.1218.2012.00519. BAI Yongqiang, LIU Hao, SHI Zongying, ZHONG Yisheng. Robust Flight Control of Quadrotor Unmanned Air Vehicles. ROBOT, 2012, 34(5): 519-524. DOI: 10.3724/SP.J.1218.2012.00519.

摘要

讨论了四旋翼无人直升机的飞行控制问题，提出了一种鲁棒控制器设计方法．该控制器由内环姿态控制器和外环位置控制器两部分组成，姿态控制器采用基于信号补偿的鲁棒控制方法，位置控制器由经典的PD 控制实现．将该控制器用于实验室自主研制的四旋翼无人直升机系统，实现了室内悬停飞行．实验结果验证了该控制方法的有效性．

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关键词 ：四旋翼无人直升机, 飞行控制, 鲁棒补偿

Abstract：

For quadrotor unmanned air vehicles (UAVs) flight control problem, a robust controller design approach is presented. The controller consists of two parts: an inner-loop attitude controller and an outer-loop position controller. The attitude controller is designed with robust control based on signal compensation. The position controller is realized with classical PD method. It is applied to a quadrotor UAV developed in our laboratory to realize indoor hovering. Experimental results demonstrate the effectiveness of this control approach.

Key words： quadrotor UAV (unmanned air vehicle) flight control robust compensation

收稿日期: 2012-03-13 录用日期: 2012-09-16

TP182

基金资助:

国家自然科学基金资助项目（61174067;60736024）

通讯作者: 白永强 E-mail: byq09@mails.tsinghua.edu.cn

作者简介: 白永强（1986—），男，硕士生，助理工程师．研究领域：四旋翼无人直升机的控制与系统实现．
石宗英（1969—），女，博士，副教授．研究领域：无人直升机自主导航与控制，移动机器人定位与SLAM，机器人控制．
钟宜生（1958—），男，博士，教授．研究领域：鲁棒控制，非线性控制．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00519 或 https://robot.sia.cn/CN/Y2012/V34/I5/519

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