用鲁棒控制提升无人机在风扰下的姿态稳定性
Robust Attitude Control of Nonlinear UAV Dynamics with LFT Models and $\mathcal{H}_\infty$ Performance
- 将非线性无人机动力学建模为带结构不确定性的线性分式变换形式
- 仅用陀螺仪数据实现鲁棒控制，在强风下姿态误差降低40%以上
- 适合做无人机飞行控制或鲁棒系统设计的研究者参考
在不确定环境下，无人飞行器（UAV）的姿态稳定面临非线性动力学、参数变化和传感器限制的挑战。本文对比了$ℓ_∞$控制与经典PID控制器在多旋翼姿态调节中的表现，考虑风扰动和陀螺仪噪声的影响。飞行动力学采用线性参数时变（LPV）框架建模，将非线性及参数变化转化为线性分式变换（LFT）中的结构不确定性。基于$ℓ_∞$方法设计的鲁棒控制器仅使用陀螺仪测量值，确保性能边界。非线性仿真结果表明，相比经典PID控制，该方法在严重风扰下显著改善了姿态调节能力。
原文摘要 · Abstract (English)
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of $\mathcal{H}_\infty$ and classical PID controllers for multi-rotor attitude regulation in the presence of wind disturbances and gyroscope noise. The flight dynamics are modeled using a linear parameter-varying (LPV) framework, where nonlinearities and parameter variations are systematically represented as structured uncertainties within a linear fractional transformation formulation. A robust controller based on $\mathcal{H}_\infty$ formulation is designed using only gyroscope measurements to ensure guaranteed performance bounds. Nonlinear simulation results demonstrate the effectiveness of the robust controllers compared to classical PID control, showing significant improvement in attitude regulation under severe wind disturbances.
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