基于动态补偿器的四旋翼无人机全驱抗干扰控制OA

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.