工程科学学报，第40卷，第5期：622-628,2018年5月 Chinese Joural of Engineering,Vol.40,No.5:622-628,May 2018 DOI:10.13374/j.issn2095-9389.2018.05.013;http://journals.ustb.edu.cn 集总干扰下六旋翼飞行器的轨迹跟踪控制 丁力12)，吴洪涛3)，李兴成) 1)江苏理工学院机械工程学院，常州2130012)香港理工大学工业及系统工程学系，香港999077 3)南京航空航天大学机电学院，南京210016 ☒通信作者，E-mail:nuaadli(@163.com 摘要针对复杂集总干扰下六旋翼飞行器轨迹跟踪控制问题，给出了混合积分反步法控制与线性自抗扰控制的控制算法 首先，通过牛顿-欧拉方程建立六旋翼飞行器的非线性动力学模型，并剖析系统输入输出的数学关系。其次，根据六旋翼飞行 器动力学模型的特点，将其分为位置与姿态两个控制环.位置环采用积分反步法控制理论设计控制器，通过引入积分项来提 高系统的抗干扰能力，消除轨迹跟踪的静态误差；姿态环采用线性自抗扰控制技术设计控制器，通过线性扩张观测器估计和 补偿集总干扰影响，提高系统的鲁棒性.最后，通过2组仿真算例和1组飞行试验验证了本文所提飞行控制算法的有效性.研 究结果表明：该控制算法对集总干扰有较好的抑制作用，能够使六旋翼飞行器既快又稳地跟踪上参考轨迹，具有一定的工程 应用价值 关键词六旋翼飞行器：轨迹跟踪控制：积分反步法控制：线性自抗扰控制：集总干扰 分类号TP242 Trajectory tracking control for an unmanned hexrotor with lumped disturbance DING Li),WU Hong-tao,LI Xing-cheng) 1)School of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China 2)Department of Industrial and Systems Engineering,The Hong Kong Polytechnic University,Hong Kong 999077,China 3)College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China Corresponding author,E-mail:nuaadli@163.com ABSTRACT In recent years,unmanned aerial vehicles (UAVs)have experienced an important growth both in research activities and industrial field.With the abilities to take off,land vertically,and hover along with natural agility and controllability,a hexrotor can extend the potential roles of UAVs.From the view of mechanical structure,hexrotors can be considered simpler than the helicopters because they do not have the swash-plate and do not need to eliminate the gyroscopic torques created by the spinning motors.However, hexrotors are not only extremely sensitive to control inputs and disturbances,they are also complex systems that are nonlinear,highly unstable and with multiple input-multiple output(MIMO)and a high degree of coupling characteristics.This study proposes a hybrid control algorithm combined integral backstepping control with linear active disturbance rejection control to solve the problem of trajectory tracking control for an unmanned hexrotor with lumped disturbance.First,the nonlinear dynamical model of the hexrotor was deduced with the Newton-Euler equation,and the mathematic relation of the input and the output was analyzed.Second,the hexrotor system was divided into the position loop and the attitude loop according to the characteristic of the dynamical model.In the position loop,an integral backstepping control algorithm was applied to design the controller by introducing an integral term to improve the disturbance resistance and eliminate the static error of the trajectory tracking.In the attitude loop,a linear active disturbance rejection control algo- rithm was used to design the controller by introducing a linear extended state observer to estimate and compensate for the lumped dis- turbance.Lastly,the effectiveness of the proposed control algorithm was verified through two simulation cases and a flight experiment. 收稿日期：2017-08-18 基金项目：江苏省基础研究计划（自然科学基金）资助项目(BK20170315):常州市应用基础研究计划资助项目(C20179017)工程科学学报,第 40 卷,第 5 期:622鄄鄄628,2018 年 5 月 Chinese Journal of Engineering, Vol. 40, No. 5: 622鄄鄄628, May 2018 DOI: 10. 13374 / j. issn2095鄄鄄9389. 2018. 05. 013; http: / / journals. ustb. edu. cn 集总干扰下六旋翼飞行器的轨迹跟踪控制 丁 力1,2) 苣 , 吴洪涛3) , 李兴成1) 1) 江苏理工学院机械工程学院, 常州 213001 2) 香港理工大学工业及系统工程学系, 香港 999077 3) 南京航空航天大学机电学院, 南京 210016 苣 通信作者, E鄄mail: nuaadli@ 163. com 摘 要 针对复杂集总干扰下六旋翼飞行器轨迹跟踪控制问题,给出了混合积分反步法控制与线性自抗扰控制的控制算法. 首先,通过牛顿鄄鄄欧拉方程建立六旋翼飞行器的非线性动力学模型,并剖析系统输入输出的数学关系. 其次,根据六旋翼飞行 器动力学模型的特点,将其分为位置与姿态两个控制环. 位置环采用积分反步法控制理论设计控制器,通过引入积分项来提 高系统的抗干扰能力,消除轨迹跟踪的静态误差;姿态环采用线性自抗扰控制技术设计控制器,通过线性扩张观测器估计和 补偿集总干扰影响,提高系统的鲁棒性. 最后,通过2 组仿真算例和1 组飞行试验验证了本文所提飞行控制算法的有效性. 研 究结果表明:该控制算法对集总干扰有较好的抑制作用,能够使六旋翼飞行器既快又稳地跟踪上参考轨迹,具有一定的工程 应用价值. 关键词 六旋翼飞行器; 轨迹跟踪控制; 积分反步法控制; 线性自抗扰控制; 集总干扰 分类号 TP242 收稿日期: 2017鄄鄄08鄄鄄18 基金项目: 江苏省基础研究计划(自然科学基金)资助项目(BK20170315); 常州市应用基础研究计划资助项目(CJ20179017) Trajectory tracking control for an unmanned hexrotor with lumped disturbance DING Li 1,2) 苣 , WU Hong鄄tao 3) , LI Xing鄄cheng 1) 1) School of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, China 2) Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hong Kong 999077, China 3) College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 苣 Corresponding author, E鄄mail: nuaadli@ 163. com ABSTRACT In recent years, unmanned aerial vehicles (UAVs) have experienced an important growth both in research activities and industrial field. With the abilities to take off, land vertically, and hover along with natural agility and controllability, a hexrotor can extend the potential roles of UAVs. From the view of mechanical structure, hexrotors can be considered simpler than the helicopters because they do not have the swash鄄plate and do not need to eliminate the gyroscopic torques created by the spinning motors. However, hexrotors are not only extremely sensitive to control inputs and disturbances, they are also complex systems that are nonlinear, highly unstable and with multiple input鄄multiple output (MIMO) and a high degree of coupling characteristics. This study proposes a hybrid control algorithm combined integral backstepping control with linear active disturbance rejection control to solve the problem of trajectory tracking control for an unmanned hexrotor with lumped disturbance. First, the nonlinear dynamical model of the hexrotor was deduced with the Newton鄄鄄Euler equation, and the mathematic relation of the input and the output was analyzed. Second, the hexrotor system was divided into the position loop and the attitude loop according to the characteristic of the dynamical model. In the position loop, an integral backstepping control algorithm was applied to design the controller by introducing an integral term to improve the disturbance resistance and eliminate the static error of the trajectory tracking. In the attitude loop, a linear active disturbance rejection control algo鄄 rithm was used to design the controller by introducing a linear extended state observer to estimate and compensate for the lumped dis鄄 turbance. Lastly, the effectiveness of the proposed control algorithm was verified through two simulation cases and a flight experiment