Design of Self Balancing Anti Disturbance System for Multi Rotor UAV
Abstract: Active anti
disturbance controller is applied to UAV flight control system. First, tracking
differentiator is used for arranging transient process to achieve the purpose
of quickly and accuratelytracking the given signal. Then the uncertain
disturbance of the system is estimated in a real-time way by expanding state
observer and control input is introduced in the form of feedback quantity to
play the realtime role in compensating system disturbance, so as to realize
attitude stabilization control. Asymptotic stability of control system is
proved on the basis of the stability theory of Lyapunov and the design of ܪஶ
robust controller is completed by combining with linear matrix
inequality. Through simulated test, compare state response curve under
different time delay conditions and the result proves that the designed ܪஶ
robust controller can resolve the problems such as uncertain modeling
error, disturbance and time delayexisting in the system, with certain
robustness. Result of numerical simulation shows that this method is characterized
by strong anti-disturbance capacity, good control quality, high accuracy and
simple algorithm.
Author: Zhang Xin, Li Xun, Pei
Huikun, Huang Ronghui
Journal Code: jptkomputergg160100
