解决无人机电池电压下降导致的飞行失控问题，提升长时飞行稳定性。
Accurate Control under Voltage Drop for Rotor Drones
- 通过解耦状态与干扰信息，设计电压下降观测器，更精准估计干扰。
- 在平移环用电压观测器、旋转环用固定时间滑模观测器，有效抑制扰动。
- 实飞实验验证方案在电压下降下的鲁棒性，适合高精度飞行场景。
本文提出一种抗干扰控制方案，用于应对旋翼无人机因电池电压下降（VD）引起的扰动，该现象常见于长时间飞行或剧烈机动时。首先，建立了考虑电压下降扰动的精细化动力学模型。基于此模型，设计了一种电压下降观测器（VDO），通过解耦干扰与无人机状态信息，降低了传统干扰观测器的保守性。随后，控制方案将VDO嵌入平移回路，同时在旋转回路中引入固定时间滑模观测器（SMO），以有效应对由电池电压下降引发的力和力矩扰动。大量真实飞行实验验证了该控制方案在电压下降扰动下的有效性。
原文摘要 · Abstract (English)
This letter proposes an anti-disturbance control scheme for rotor drones to counteract voltage drop (VD) disturbance caused by voltage drop of the battery, which is a common case for long-time flight or aggressive maneuvers. Firstly, the refined dynamics of rotor drones considering VD disturbance are presented. Based on the dynamics, a voltage drop observer (VDO) is developed to accurately estimate the VD disturbance by decoupling the disturbance and state information of the drone, reducing the conservativeness of conventional disturbance observers. Subsequently, the control scheme integrates the VDO within the translational loop and a fixed-time sliding mode observer (SMO) within the rotational loop, enabling it to address force and torque disturbances caused by voltage drop of the battery. Sufficient real flight experiments are conducted to demonstrate the effectiveness of the proposed control scheme under VD disturbance.
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