基于ESO的无人直升机高精度姿态控制

针对小型无人直升机存在模型参数不确定性、电磁干扰影响的问题，设计了一种基于ESO（扩张状态观测器）的高精度姿态控制方法．直升机姿态通道中的不确定部分及外界复合扰动被视为总扰动，通过ESO进行实时估计，结合状态反馈控制器实现扰动消除．试验结果表明，在0.1 s内姿态角可从0°快速跟踪到5°且无超调．最后将设计的控制器应用于研制的高精度无人驾驶系统，实现系统参数变动等条件下直升机的全自主定点悬停和航迹飞行．

Precise Attitude Control for Unmanned Helicopter Based on Extended State Observer

A precise attitude control method is designed based on ESO (extended state observer) for the unmanned helicopter to reject disturbances caused by the model parameter uncertainty and electromagnetic interference. The uncertain part of the attitude channel and the external compound disturbance are considered as the lumped disturbance, which is estimated in real time by the designed ESO, and is eliminated by introducing a state feedback controller. The experiment results show that the attitude angle can be rapidly tracked from 0° to 5° in 0.1 s without overshoot. Finally, the designed controller is applied to the self-designed high-precision unmanned system, and the fully autonomous fixed-point hovering and tracking flight are implemented under the condition that the system parameters vary.