参数跟踪鲁棒观测器的四旋翼无人机抑振设计

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Abstract The parameter tracking robust observer design method is proposed for a class of quadrotor UAV subject to vibration. Firstly, the auxiliary filter is constructed to excite the vibration properties. Meanwhile, filter parameters are adjusted to reject the adverse effect of noise acting on the auxiliary state variables. The active vibration suppression can be simplified to the constant parameter estimation problem, which avoids the coupling of the estimated values and the operation of redundant parameters. Then a cascade structure of frequency parameter observer and tracker is designed to accurately estimate the vibration information. According to the above analysis, the compensation signal is reconstructed by auxiliary variables and frequency parameters. As a result, satisfactory vibration suppression performance can be achieved in combination with the controller. The designed observer has strong robustness without the phase lag caused by the time varying signal, which is often occurred in the conventional tracker. Finally, the performance of the system is demonstrated using the Lyapunov theorem, and the simulations are used to illustrate the effectiveness of the proposed method.

Key words： quadrotor UAV disturbance observer sinusoidal vibration vibration suppression

Received: 11 May 2023 Published: 15 May 2024

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	Articles by authors
	WANG Zhihao1
	WEN Xinyu1
	CAO Songyin2
	ZHOU Liangliang3

Cite this article:

WANG Zhihao1,WEN Xinyu1,CAO Songyin2, et al. Vibration suppression design of quadcopter drone with parameter tracking robust observer[J]. JOURNAL OF VIBRATION AND SHOCK, 2024, 43(9): 60-68.

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http://jvs.sjtu.edu.cn/EN/ OR http://jvs.sjtu.edu.cn/EN/Y2024/V43/I9/60

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