针对四旋翼无人机在复杂环境下的轨迹跟踪控制问题，提出了一种基于动态补偿器和扩张状态观测器的全驱抗干扰运动控制方法。相比于传统位置-姿态分环控制架构，本文首次将6-DOF不确定性四旋翼无人机动力学模型通过状态变换转换为混合阶全驱系统模型，实现了输入到状态的一体化控制器设计。其次，本文提出了一种基于线性扩展观测器的复合控制律，其内环是一个实时精确估计不可测量状态与未知扰动的线性扩展状态观测器，并通过复合控制律进行主动补偿；其外环是一个结合动态补偿器的全驱控制器，通过提供额外的自由度提高控制精度。同时控制器增益仅与单个参数相关，简化了参数调节过程。仿真结果表明，本文提出的方法能够使得四旋翼无人机高精度跟踪螺旋上升轨迹，尤其在高度和偏航角控制方面展现显著优势，有效解决了四旋翼无人机抗干扰控制问题，为四旋翼无人机的轨迹跟踪运动控制提供了一种系统化解决方案。

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.