Abstract This paper presents a multiple observers based anti-disturbance control (MOBADC) scheme against multiple disturbances for a quadrotor unmanned aerial vehicle (UAV). The quadrotor UAV dynamics can be represented by the Newton’s second law and Lagrange–Euler formalism. The proposed control scheme consists of disturbance observer (DO) based controller and extended state observer (ESO) based controller, which are utilized in the position loop to mainly eliminate the cable suspended payload disturbance with partially known information and mitigate the wind disturbance with bounded variation. What is more, in order to reject the model uncertainty and disturbance moment, another ESO based controller is designed for the attitude loop. Using the proposed control scheme, the anti-disturbance performance can be significantly enhanced. Experimental results in the presence of wind disturbance, payload oscillating disturbance, and hybrid disturbances illustrate the robustness and effectiveness of the proposed method compared to the classical PID method.

中文翻译：

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基于多观测器的四旋翼无人机抗有效载荷和风扰动抗扰控制

摘要 本文提出了一种基于多观测器的抗干扰控制（MOBADC）方案，以对抗四旋翼无人机（UAV）的多重干扰。四旋翼无人机动力学可以用牛顿第二定律和拉格朗日-欧拉公式表示。所提出的控制方案由基于干扰观测器（DO）的控制器和基于扩展状态观测器（ESO）的控制器组成，它们在位置环中主要用于消除部分已知信息的电缆悬挂有效载荷干扰，并减轻有界变化的风干扰. 更重要的是，为了拒绝模型的不确定性和干扰矩，另一个基于ESO的姿态环控制器被设计。使用所提出的控制方案，可以显着提高抗干扰性能。