首先对四旋翼进行了力学分析并建立了六自由度的数学模型, 然后针对四旋翼数学模型的欠驱动及强耦合特性, 提出了基于积分反步(IBS)和线性自抗扰(LADRC)相结合的控制方法对四旋翼进行轨迹跟踪控制。首先将整个控制分为外环位置控制和内环姿态角控制, 针对外环位置控制的欠驱动特性, 采用适用于欠驱动系统并且结构清晰的IBS控制方法, 针对存在严重耦合的内环姿态角控制, 则采用了具有抗耦合作用的LADRC控制策略, 仿真实验证明了该方法能实现四旋翼的轨迹跟踪。

A mechanical analysis is made to the quad-rotor aircraft, and a mathematical model of 6 degree-of-freedom is established. Then, on the account of the underactuation and strong coupling characteristics of the quad-rotor mathematical model, a control method based on integral backstepping (IBS) and Linear Active Disturbance Rejection Controller (LADRC) is proposed for trajectory tracking and controlling of the quad-rotor aircraft. Firstly, the whole control process is divided into outer-loop position control and inner-loop attitude angle control. Then, for the under-actuated outer-loop position control, the IBS control method adaptable for under-driven system is used; as to the seriously coupled inner-loop attitude angle control, the LADRC control strategy with anti-coupling effect is adopted. The result of experimental simulation shows that the method can realize the trajectory tracking of the quad-rotor aircraft.