Wind disturbance may significantly reduce the flight control performance of quadrotors when flying. In order to meet high performance flight control requirements, this paper presents a quadrotor anti-wind model (QAWM) and a flight control scheme for quadrotors. The QAWM takes the influence of aerodynamic effects on the propeller, gyroscopic effect and wind disturbance into account. The model can represent more flight states including not only hovering but also flight in windy conditions even maneuver flight. A cascade control scheme with an improved extended state observer (IESO) is adopted to decompose the quadrotor flight control problem into position control loop and attitude control loop. In the attitude control loop, the IESO is used to estimate the unmodeled dynamics, parameter uncertainties and external disturbances, as well as compensate the angular velocity control. In addition, the stability of IESO and the closed loop system are proved. Simulation and experimental results show the effectiveness of the nonlinear quadrotor model and control scheme, and the control scheme can effectively improve the flight performance of quadrotors under wind disturbance even maneuver flight.

中文翻译：

---

基于改进扩展状态观测器的四旋翼飞行器抗风建模方法及级联控制器设计

飞行时风扰可能会显着降低四旋翼飞行器的飞行控制性能。为了满足高性能飞行控制要求，本文提出了四旋翼抗风模型（QAWM）和四旋翼飞行控制方案。QAWM 考虑了气动效应对螺旋桨的影响、陀螺效应和风扰动。该模型可以表示更多的飞行状态，不仅包括悬停，还包括大风条件下的飞行甚至机动飞行。采用改进扩展状态观测器（IESO）的级联控制方案将四旋翼飞行控制问题分解为位置控制回路和姿态控制回路。在姿态控制回路中，IESO 用于估计未建模的动力学、参数不确定性和外部扰动，以及补偿角速度控制。此外，还证明了IESO和闭环系统的稳定性。仿真和实验结果表明了非线性四旋翼模型和控制方案的有效性，该控制方案能够有效提高四旋翼在风扰动甚至机动飞行下的飞行性能。