In this paper, a modified uncertainty and disturbance estimator (MUDE)-based attitude controller for quadrotors based on a high-accuracy actuator dynamic model is proposed. The actuator dynamics are approximated by a first-order plus time-delay dynamic model, and both static and dynamic models of the actuator are identified using a motor test platform. The actuator model is further exploited as a virtual sensor to provide the actuator-generated torque estimates for the controller. By these estimates, an MUDE is constructed to compensate for not only the uncertainties and disturbances in attitude dynamics but also the time delay and disturbances in actuator dynamics. The systematic consideration of actuator disturbance rejection significantly improves the overall attitude tracking performance during maneuvers, which is clearly distinguished from other existing solutions assuming ideal actuators. Furthermore, the stability and performance analysis of the closed-loop system is presented, showing that the estimation error and the closed-loop tracking error can be reduced by tuning a single parameter. Finally, the proposed control, as well as classic uncertainty and disturbance estimator-based control and cascade PID controller, are implemented and compared on a real quadrotor platform. The experimental results show the effectiveness and advantage of the proposed control method with respect to signal tracking and disturbance rejection.

提出了一种基于高精度执行器动力学模型的基于修正不确定度和扰动估计器的四旋翼姿态控制器。通过一阶加时滞动力学模型估算执行器动力学，并使用电机测试平台识别执行器的静态和动态模型。致动器模型还被用作虚拟传感器，以为控制器提供致动器生成的扭矩估计值。通过这些估算，可以构造一个MUDE来补偿姿态动力学中的不确定性和干扰，还可以补偿执行器动力学中的时延和干扰。对执行器扰动抑制的系统考虑可显着改善操纵过程中的整体姿态跟踪性能，与其他现有理想解决方案的现有解决方案明显不同。此外，给出了闭环系统的稳定性和性能分析，表明通过调整单个参数可以降低估计误差和闭环跟踪误差。最后，在实际的四旋翼平台上实现并比较了所提出的控制以及基于经典不确定性和扰动估计器的控制以及级联PID控制器。实验结果表明了该控制方法在信号跟踪和干扰抑制方面的有效性和优势。说明可以通过调整单个参数来减少估计误差和闭环跟踪误差。最后，在实际的四旋翼平台上实现并比较了所提出的控制以及基于经典不确定性和扰动估计器的控制以及级联PID控制器。实验结果表明了该控制方法在信号跟踪和干扰抑制方面的有效性和优势。说明可以通过调整单个参数来减少估计误差和闭环跟踪误差。最后，在实际的四旋翼平台上实现并比较了所提出的控制以及基于经典不确定性和扰动估计器的控制以及级联PID控制器。实验结果表明了该控制方法在信号跟踪和干扰抑制方面的有效性和优势。