Reliable Tracking Control for Under-Actuated Quadrotors With Wind Disturbances
提出一种基于奇异摄动分解的可靠控制策略，将四旋翼系统分解为快慢两个子系统，分别采用有限频率H∞控制和H∞回路成形控制，实现风扰动下的稳定跟踪和偏航角控制。
This paper presents a reliable control strategy for quadrotors to achieve a satisfactory tracking performance and provide a stable yaw angle control in the presence of wind disturbances. Based on the prelinearizing transformation and singular perturbation techniques, a quadrotor flight system is decomposed into two interconnected subsystems in different time-scales: 1) the angular rotations and 2) the linear translations. For the fast subsystem running as the inner loop, finite frequency H∞ control is used to enhance robustness and provide adequate decoupling such that each translational dynamic is controlled independently. For the slow subsystem running as the outer loop, H∞ loop shaping control via proportion-integration-differentiation control is used to achieve a desired servo performance even in the presence of wind disturbance. Simulations are performed under different wind conditions to validate the effectiveness of the new control strategy.