It is relevant to develop an adequate control algorithm for quadrotors that guarantees a good compromise robustness/ performance. This compromise should be ensured with or without external disturbances. In this paper, we investigate and apply a revisited formulation of a reference model-based control strategy by introducing a boosting mechanism. This mechanism uses an Extended State-based Observer (ESO) to estimate the uncertainties and variety of disturbances. The estimation is continually updated and rejected from the main control loop. The reinforcement principle is inspired from the popular Active Disturbance Rejection Control (ADRC) technique in order to enhance the robustness ability of a nonlinear reference model-based control strategy (i.e. Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC)). The obtained controller is augmented by an additional input, which is derived via sliding modes framework to handle the estimation errors and ensure asymptotic stability. This combination leads to promising results by improving the nominal control technique. The primary results are shown through numerical simulations and are confirmed, experimentally, with several scenarios.

开发适当的四旋翼控制算法以确保良好的折衷性/性能至关重要。无论有没有外部干扰，都应确保这种折衷。在本文中，我们通过引入提升机制来研究和应用基于参考模型的控制策略的修订表述。该机制使用扩展的基于状态的观察器（ESO）来估计不确定性和干扰的种类。该估计会不断更新，并从主控制循环中被拒绝。增强原理是从流行的主动干扰抑制控制（ADRC）技术中获得启发的，目的是增强基于非线性参考模型的控制策略（即，基于互连和阻尼分配-被动性的控制（IDA-PBC））的鲁棒性。所获得的控制器通过一个附加输入进行扩充，该附加输入是通过滑模框架导出的，以处理估计误差并确保渐近稳定性。这种组合通过改进标称控制技术而带来了可喜的结果。通过数值模拟显示了主要结果，并在几种情况下进行了实验验证。