基于扩张观测器的输入受限四旋翼飞行器轨迹跟踪动态面输出反馈控制

针对速度不可测和输入受限的四旋翼飞行器轨迹跟踪控制问题,考虑系统存在模型动态不确定和外界干扰未知的情况,提出一种输入受限四旋翼飞行器轨迹跟踪动态面输出反馈控制方法。该方法首先设计非线性扩张状态观测器估计飞行器系统的速度和广义扰动,然后结合反演法和动态面技术设计动态面轨迹跟踪控制律,以降低控制算法的复杂性,同时引入双曲正切函数解决控制输入饱和问题,并构造辅助方程降低饱和效应,最后选取李雅普诺夫函数证明闭环系统所有信号一致最终有界。以大疆M100飞行器为目标进行控制仿真,结果表明，所设计的输出反馈控制器能够有效地处理飞行器系统控制输入受限、速度不可测和未知干扰问题，实现飞行器精确轨迹跟踪控制。

Extended state observer based dynamic surface output feedback control for quadrotor UAV trajectory tracking with input constraints#br#

To solve the trajectory tracking problem for quadrotor unmanned aerial vehicles with immeasurable velocity and control input saturation, a dynamic surface output feedback control scheme is proposed in the presence of model uncertainties and unknown external disturbances. Firstly, the nonlinear extended state observer is designed to estimate velocity information and generalized perturbation term of the system. Then a no velty dynamic surface controller is designed based on the backstepping method with the dynamic surface technique, which can reduce the complexity of the control algorithm. Furthermore, the hyperbolic tangent function and a constructed aid system are introduced to process the control input saturation problem. Finally, by using Lyapunov analysis, it is proven that all signals of the closed loop trajectory tracking system are the uniformly ultimate boundedness under the proposed control strategy. The simulation results on DJI M100 aircraft model show that the output feedback controller can effectively deal with the control input constraints, velocity immeasurability and unknown disturbances of quadrotor system, and realize the task of trajectory tracking control accurately.