ABSTRACT This work proposes a novel robust nonlinear control method for trajectory tracking of a quadrotor unmanned aerial vehicle using the prescribed performance control technique and disturbance observers, in the presence of external disturbances and uncertainties of physical parameters. By exploiting the cascaded structure of the position subsystems and the attitude subsystems, the controller is designed in a backstepping manner, and the dynamic surface technique is adopted to avoid the explosion of the controller complexity. For each axis of the subsystem with uncertainties, the prescribed performance control technique is adopted to ensure a moderate control performance. Then a disturbance observer is constructed to enhance the corresponding controller to achieve a sufficiently small ultimate error. Not only the control performance of the overall control system, but also the behaviour of all the internal error signals are analysed rigorously. Finally, the performance of the proposed controller is confirmed by simulation studies.

中文翻译：

---

具有规定性能的无人机的基于干扰观测器的控制

摘要 这项工作提出了一种新的鲁棒非线性控制方法，用于在存在外部干扰和物理参数不确定性的情况下，使用规定的性能控制技术和干扰观测器对四旋翼无人机进行轨迹跟踪。利用位置子系统和姿态子系统的级联结构，反推设计控制器，并采用动态曲面技术避免控制器复杂度的爆炸式增长。对于具有不确定性的子系统的每个轴，采用规定的性能控制技术，以保证适度的控制性能。然后构造扰动观测器来增强相应的控制器，以实现足够小的最终误差。不仅对整个控制系统的控制性能进行了严格的分析，而且对所有内部误差信号的行为也进行了严格的分析。最后，所提出的控制器的性能通过仿真研究得到证实。