A tracking control problem for a quadrotor aircraft with external disturbances and model uncertainties is considered. An error manifold involving the velocity and position tracking error is used to handle the dynamics of the translational subsystem. Novel performance functions combined with primary conditions are designed to drive the error manifold into a prescribed envelope, which ensures a small overshoot and avoids control singularity. A control-oriented non-affine model for the angular velocity subsystem is utilized to ensure a better applicability of the controller.

By means of backstepping technology, prescribed performance controller is constructed for the rotational subsystem. Different from the existing flight control methods, no estimator or conservative assumption is adopted to solve the coupling term between the rotational and translational subsystems in this paper. The proposed methodology is estimation-free and independent of exact knowledge of the model parameters. The effectiveness of the developed controller is verified by two simulation examples.

考虑了具有外部干扰和模型不确定性的四旋翼飞机的跟踪控制问题。涉及速度和位置跟踪误差的误差流形用于处理平移子系统的动力学。结合主要条件的新颖性能功能旨在将误差歧管驱动到规定的范围内，从而确保较小的过冲并避免控制奇异性。利用角速度子系统的面向控制的非仿射模型来确保控制器的更好适用性。

借助后推技术，可为旋转子系统构建规定的性能控制器。与现有的飞行控制方法不同，本文没有采用估计或保守假设来求解旋转子系统和平移子系统之间的耦合项。所提出的方法是无估计的并且独立于模型参数的确切知识。通过两个仿真示例验证了所开发控制器的有效性。