| 张智皓,谢树宗,陈强.基于扰动观测器的四旋翼飞行器预定义时间姿态跟踪控制[J].高技术通讯(中文),2026,36(2):212~220 |
| 基于扰动观测器的四旋翼飞行器预定义时间姿态跟踪控制 |
| Disturbance observer-based predefined-time attitude tracking control of quadrotors |
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| DOI：10. 3772 / j. issn. 1002 - 0470. 2026. 02. 010 |
| 中文关键词: 扰动观测器； 预定义时间控制； 四旋翼飞行器； 姿态跟踪 |
| 英文关键词: disturbance observer, predefined-time control, quadrotors, attitude tracking |
| 基金项目: |
| 作者 | 单位 | | 张智皓 | （浙江工业大学信息工程学院杭州 310023） | | 谢树宗 | | | 陈强 | |
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| 中文摘要: |
| 针对含有外部扰动的四旋翼飞行器姿态系统，提出了一种基于扰动观测器的预定义时间姿态跟踪控制方案。首先，构造了一个新颖的预定义时间扰动观测器用以估计和补偿外部扰动，进而提高系统的抗扰性能和稳态精度。在此基础上，设计了双环预定义时间控制器。与现有的预定义控制方案相比，所提方案将二阶系统拆分为2个一阶系统，避免了控制器设计过程中产生的奇异性问题；并利用预定义时间扰动观测器补偿内环，保证了四旋翼飞行器姿态在预定义时间内收敛。最后，通过对比实验验证了算法的有效性和优越性。 |
| 英文摘要: |
| In this paper, a disturbance observer-based predefined-time control scheme is proposed for the attitude tracking of quadrotors with the influence of external disturbance. Firstly, a novel predefined-time disturbance observer is constructed to estimate and compensate the external disturbance, thereby improving the disturbance immunity performance and steady-state accuracy of the system. On this basis, a dual-loop predefined-time controller is designed. Compared with the existing predefined-time control schemes, the proposed scheme splits the second-order system into two first-order systems, which avoids the singularity problem arising in the controller design process. The predefined-time disturbance observer is used to compensate for the inner ring to ensure the convergence of the quadrotors’ attitude within a predefined time. Finally, the effectiveness and superiority of the algorithm are verified by comparative experiments. |
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