Wang Shubo, Chen Jian, He Xiongkui
College of Engineering, China Agricultural University, 17 Qinghua East Rd., Beijing 100083, China.
Centre for Chemicals Application Technology, College of Science, China Agricultural University, 2 Yuanmingyuan West Rd., Beijing 100193, China; Key Laboratory of Urban Land Resources Monitoring and Simulation, Ministry of Natural Resources, 69 Xinwen Rd., Shenzhen 518000, China.
ISA Trans. 2022 Oct;129(Pt A):564-579. doi: 10.1016/j.isatra.2022.01.012. Epub 2022 Jan 14.
Aiming at the problem that agricultural quadrotor UAV is easily disturbed in ultra-low altitude phenotype remote sensing and precision hovering of spraying, an adaptive composite anti-disturbance attitude controller is proposed for ground effect and propeller failure disturbances rejection. The adaptive composite disturbance rejection control (ACDRC) is composed of active disturbance rejection control (ADRC) and disturbance observer (DO) based on nominal inverse model, which is used to estimate wind disturbance, payload disturbance and propeller failure disturbance in real time. For the bandwidth tuning of the extended state observer (ESO), an online tuning method based on iterative learning control (ILC) is proposed to realize the adaptive extended state observer (ESO). And the stability of the composite anti-disturbance controller is analyzed. In the experiments, the wind disturbance experiments under the side-down flow and the horizontal flow, the failure experiments under the single propeller failure and twin propeller failure, and the composite disturbances experiments under the simultaneous action of the wind disturbance, propeller failure and payload disturbance are carried out. The experimental results show that under wind disturbance, the anti-disturbance performance of ACDRC is increased by 82.5%; under the disturbance of propeller fault, the anti-disturbance performance of ACDRC is increased by 60%; under the composite disturbance, the anti-disturbance performance of ACDRC is increased by 50%. Finally, the effectiveness of ACDRC is further verified in vegetable and cotton fields.
针对农业四旋翼无人机在超低空表型遥感和喷雾精准悬停时易受干扰的问题，提出一种自适应复合抗干扰姿态控制器，用于抑制地面效应和螺旋桨故障干扰。自适应复合干扰抑制控制（ACDRC）由主动干扰抑制控制（ADRC）和基于标称逆模型的干扰观测器（DO）组成，用于实时估计风干扰、载荷干扰和螺旋桨故障干扰。针对扩张状态观测器（ESO）的带宽整定问题，提出一种基于迭代学习控制（ILC）的在线整定方法，实现自适应扩张状态观测器（ESO）。并对复合抗干扰控制器的稳定性进行了分析。实验中，进行了侧向下流和水平流作用下的风干扰实验、单螺旋桨故障和双螺旋桨故障下的故障实验以及风干扰、螺旋桨故障和载荷干扰同时作用下的复合干扰实验。实验结果表明，在风干扰下，ACDRC的抗干扰性能提高了82.5%；在螺旋桨故障干扰下，ACDRC的抗干扰性能提高了60%；在复合干扰下，ACDRC的抗干扰性能提高了50%。最后，在蔬菜地和棉田进一步验证了ACDRC的有效性。
