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

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 is the first to transform the 6-DOF uncertain quad-rotor UAV dynamic model into a mixed-order fully actuated system model through state transformation, enabling integrated input-to-state controller design. Secondly, this paper presents a composite control law based on a linear extended state ob-server. 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 is a fully actuated controller combined with a dynamic compensator, enhancing control precision by providing additional degrees of freedom. Meanwhile, the controller gain depends only on a single parameter, simplified parameter tuning process. Simulation results demonstrate that that the proposed method enables quadrotor UAVs to track spiral ascent trajectories with high precision, particularly ex-hibit-ing significant advantages in altitude and yaw angle control. It effectively addresses the anti-disturbance control prob-lem of quadrotor UAVs and provides a systematic solution for trajectory tracking motion control.

Key words: quadrotor UAV, fully actuated system approach, dynamic compensator, extended state observer, anti-disturbance con-trol