哈尔滨商业大学学报（自然科学版）2025，Vol.41Issue(5)：554-562,9.
基于改进ESO和反步法的四旋翼轨迹跟踪控制
Trajectory tracking control of quadcopter unmanned aerial vehicle based on improved ESO and backstepping method
摘要
Abstract
To solve the trajectory tracking control problem of a quadrotor unmanned aerial vehicle(UAV)in the presence of uncertainties such as multi-source disturbances and system parameter perturbations,a robust trajectory tracking strategy based on an improved extended state observer(ESO)and backstepping control method was proposed.An improved ESO was designed,which was based on an optimized function.This ESO consolidated internal uncertainties and external disturbances of the quadrotor UAV system into a total system disturbance term,and provided real-time estimates to compensate for the control input.Subsequently,based on the semi-coupled nature and strict feedback structure of the quadrotor UAV system,the dynamic model of the UAV was decoupled into an inner-loop attitude subsystem and an outer-loop position subsystem.The backstepping method was used to design control laws for both the inner and outer loops,ensuring rapid convergence of the system.Simulation experiments demonstrated that the proposed improved state observer exhibited stronger error-following capabilities,and the designed backstepping anti-disturbance controller possessed better trajectory tracking ability and robustness.关键词
四旋翼无人机/反步控制/扩展状态观测器/干扰补偿/轨迹跟踪Key words
quadcopter unmanned aerial vehicle/backstepping control/extended state observer/interference compensation/trajectory tracking分类
信息技术与安全科学引用本文复制引用
黄鹤鸣,黄宜庆,白阳阳..基于改进ESO和反步法的四旋翼轨迹跟踪控制[J].哈尔滨商业大学学报（自然科学版）,2025,41(5):554-562,9.基金项目
安徽省高校协同创新项目"自主智能无人系统视觉感知与控制"(No.GXXT-2020-069). （No.GXXT-2020-069）
