In this paper, a high accuracy attitude tracking control is presented for a quadrotor unmanned aerial vehicle (UAV) under the model uncertainties and external unpredictable disturbances by using a robust feedback control method. First, the cascade attitude dynamics of a quadrotor UAV is derived with the lumped disturbances. Then, a backstepping adaptive modified robust integral of the sign of the error (RISE) control is designed to improve the robustness of the control system against the disturbances. For arriving high accuracy tracking under the disturbances, a prescribed performance control algorithm is employed in combination to hold the transient state performance where the convergence rate is faster than the prescribed value, and the maximum overshoot is less than the prescribed value. The stability analysis is carried out to prove that the presented controller could guarantee that the closed-loop system is asymptotically stable, and the tracking feedback errors can converge to an arbitrarily small value near zero. The superior performance of the proposed control method is illustrated in simulations against the nonlinear lumped disturbances, and the benefits of the proposed robust controller is corroborated by comparing with the existed controller.

本文采用鲁棒的反馈控制方法，在模型不确定性和外部不可预测干扰的情况下，提出了一种四旋翼无人机的高精度姿态跟踪控制方法。首先，利用集总扰动推导了四旋翼无人机的级联姿态动力学。然后，设计了误差符号（RISE）控制的后向自适应修正鲁棒积分，以提高控制系统抵抗干扰的鲁棒性。为了在干扰下达到高精度跟踪，结合使用规定的性能控制算法来保持瞬态状态，在该状态下，收敛速度快于规定值，并且最大过冲小于规定值。进行了稳定性分析，证明所提出的控制器可以保证闭环系统是渐近稳定的，跟踪反馈误差可以收敛到接近零的任意小值。在针对非线性集中扰动的仿真中，说明了所提出的控制方法的优越性能，并且与现有控制器进行了比较，证实了所提出的鲁棒控制器的优势。