控制理论与应用2026，Vol.43Issue(3)：491-500,10.DOI:10.7641/CTA.2025.30628
基于扰动区间观测器的四旋翼无人机几何控制
Disturbance interval observer based geometric control for quadrotor
摘要
Abstract
In this paper,a geometric tracking control strategy based on interval observer is designed to solve the tracking control problem of quadrotor under disturbances.Firstly,for a class of disturbances generated by some exogenous systems,a disturbance interval observer is constructed on the basis of the Luenberger observer by using the interval estimation technique,which realizes the estimation of the upper bounds and the lower bounds of disturbances.Secondly,in order to evaluate the effect of disturbance on the attitude of the quadrotor,a disturbance effect indicator is designed using the disturbance interval information,and an inner loop geometric controller is constructed.Then,exploiting the information of disturbance obtained by the interval observer,an outer loop position controller is proposed to ensure that the tracking error meets the predetermined constraints,and the tracking errors are proved to be bounded.Finally,the effectiveness of the proposed control strategy is verified by simulations.关键词
四旋翼无人机/区间观测器/扰动效应指示器/几何控制Key words
quadrotor/interval observer/disturbance effect indicator/geometric control引用本文复制引用
蔡庆,邱宏凌,费城,沈俊..基于扰动区间观测器的四旋翼无人机几何控制[J].控制理论与应用,2026,43(3):491-500,10.基金项目
国家自然科学基金项目(61973156),南京航空航天大学科研与实践创新计划项目(XCXJH20220324)资助.Supported by the National Natural Science Foundation of China(61973156),and the Postgraduate Research & Practice Innovation Program of NU-AA(XCXJH20220324). （61973156）
