提出一种基于串级线性自抗扰(ADRC)的四旋翼无人机姿态控制器设计方法, 并采用比例-积分-速度(PIV)控制设计位置控制器, 实现四旋翼无人机的轨迹跟踪控制。对于姿态控制系统, 通过对俯仰、滚转和偏航3个通道设计线性扩张状态观测器(LESO), 对系统内部不确定性与外部扰动进行实时观测与补偿。对于位置控制系统, 采用PIV控制算法设计控制器, 完成平移变量的稳定跟踪控制。对所涉及的串级自抗扰姿态控制器的稳定性进行了分析说明。最后, 在Quanser飞行控制实验平台中进行轨迹跟踪实验, 验证了所提方法的有效性。

A design method of attitude controller for quadrotor UAV based on cascaded linear Active Disturbance Rejection Controller (ADRC) is proposed, and the position controller is designed by using Proportional-Integration-Velocity (PIV)control to realize the trajectory tracking control of quadrotor UAV.For the attitude control system, a Linear Extended State Observer (LESO) is designed for pitch, roll and yaw channels to observe and compensate for the internal uncertainties and external disturbances in real time.For the position control system, the PIV control algorithm is used to design the controller and achieve stable tracking control of translation variable.The stability of the cascaded ADRC is analyzed and explained.Finally, trajectory tracking experiments on Quanser flight control experimental platform verify the effectiveness of the proposed method.