基于改进自抗扰控制器的四旋翼海空两栖机器人位姿控制
Attitude and Position Control for Hybrid Aerial Underwater Vehicles via Improved Active Disturbance Rejection Controller
摘要: 本文主要围绕四旋翼海空两栖机器人的跨介质位姿控制系统进行研究，提出了一种改进的自抗扰控制策略。介绍了四旋翼海空两栖机器人的结构组成与飞行原理，分别建立了机体坐标系和地球坐标系以及其坐标变换矩阵，对四旋翼海空两栖机器人基于基本假设进行动力学建模。建立了基于改进自抗扰控制的级联控制器，采用了任意阶鲁棒精确微分器的高阶滑模观测器实现对扰动的精确估计。此外，引入改进的非线性函数，以减轻传统非线性函数带来的抖振现象，从而提高了四旋翼海空两栖机器人的稳定性。并使用MATLAB/Simulink对其进行了位置、姿态以及干扰情况下的仿真。验证了所提出的级联控制器的相较于传统的自抗扰控制器在干扰情况下具有更优的位姿控制性能和抗干扰能力。
Abstract: This paper mainly focuses on the research of the trans-media attitude and position control system of the Hybrid aerial underwater vehicle (HAUV), and proposes an improved Active disturbance rejection control (ADRC) strategy. The structure composition and flight principle of the HAUV are introduced. The body coordinate system and earth coordinate system as well as the matrix paradigm of the coordinate transformation are established, and the dynamics modeling of the quadrotor HAUV is carried out based on the basic assumptions. A cascade controller based on improved ADRC is established, and a high-order sliding mode observer (HOSMO) based on arbitrary order robust precise differentiator is used to estimate the lumped disturbance accurately. In addition, an improved nonlinear function is introduced to reduce the chattering caused by the traditional nonlinear function, thus improving the stability of the HAUV. MATLAB/Simulink is used to verify that the proposed cascaded controller has better attitude and position control performance and anti-disturbance ability than the traditional ADRC controller.
文章引用：刘占宇. 基于改进自抗扰控制器的四旋翼海空两栖机器人位姿控制[J]. 建模与仿真, 2025, 14(4): 394-407. https://doi.org/10.12677/mos.2025.144296

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