航空学报2026，Vol.47Issue(9)：123-135,13.DOI:10.7527/S1000-6893.2025.32813
基于动态补偿器的四旋翼无人机全驱抗干扰控制
Fully actuated anti-disturbance control for quadrotor UAVs based on dynamic compensator
摘要
Abstract
To address the trajectory tracking control problem of quadrotor UAVs in complex environments,this paper proposes a fully actuated anti-disturbance motion control method based on a dynamic compensator and extended state observer.Compared to the traditional position-attitude dual-loop control architecture,this paper transforms the uncer-tain 6-DOF quadrotor model into a mixed-order fully actuated system model via state transformation,which facilitates the design of an integrated input-to-state controller.Secondly,this paper presents a composite control law based on a linear extended state observer.The inner loop consists of a linear extended state observer that accurately estimates unmeasurable states and unknown disturbances in real time,with active compensation via the composite control law.The outer loop employs a fully actuated controller combined with a dynamic compensator,providing additional degrees of freedom to enhance control precision,while the controller gain depends only on a single parameter,simplifying pa-rameter tuning process.Simulation results demonstrate that the proposed method enables quadrotor UAVs to track spiral ascent trajectories with high precision,showing significant advantages in altitude and yaw angle control.The ap-proach effectively addresses the anti-disturbance control problem of quadrotor UAVs and provides a systematic solu-tion for trajectory tracking motion control.关键词
四旋翼无人机/全驱系统方法/动态补偿器/扩张状态观测器/抗干扰控制Key words
quadrotor UAV/fully actuated system approach/dynamic compensator/extended state observer/anti-disturbance control分类
航空航天引用本文复制引用
王晓娟,田广泰,李彬,何振清..基于动态补偿器的四旋翼无人机全驱抗干扰控制[J].航空学报,2026,47(9):123-135,13.基金项目
国家自然科学基金(U24B20156) （U24B20156）
国家自然科学基金青年科学基金(62503343) （62503343）
空间智能控制技术重点实验室稳定支持基金(HTKJ2023KL502005,HTKJ2024KL502007) National Natural Science Foundation of China(U24B20156) （HTKJ2023KL502005,HTKJ2024KL502007）
National Natural Science Foundation of China(62503343) （62503343）
National Key Laboratory of Space Intelligent Control(HTKJ2023KL502005,HTKJ2024KL502007) （HTKJ2023KL502005,HTKJ2024KL502007）
