ABSTRACT

This paper presents a backstepping disturbance observer based control (DOBC) for trajectory tracking motion control of multirotor Unmanned Aerial Vehicles (UAVs). Two disturbance observers (DO) estimate external force and torque disturbances acting on the UAV. A nonlinear backstepping dynamic state feedback is proposed which uses the DO estimates to achieve exponential stability for the closed-loop tracking error under constant disturbances. The stability analysis accounts for the entire nonlinear vehicle model which includes translational and rotational dynamics. Software-in-the-loop simulation and experimental results are presented showing the effectiveness of the proposed method using the commonly used PX4/Pixhawk development framework.

摘要

本文提出了一种基于反步扰动观测器的控制 (DOBC)，用于多旋翼无人机 (UAV) 的轨迹跟踪运动控制。两个干扰观测器 (DO) 估计作用在无人机上的外力和扭矩干扰。提出了一种非线性反步动态反馈，它使用DO估计来实现恒定扰动下闭环跟踪误差的指数稳定性。稳定性分析考虑了包括平移和旋转动力学在内的整个非线性车辆模型。软件在环仿真和实验结果展示了使用常用的 PX4/Pixhawk 开发框架提出的方法的有效性。