In this paper, a robust position and attitude tracking control problem of a quadrotor subject to system nonlinearities, input coupling, aerodynamic uncertainties and external wind disturbances is investigated. An uncertainty and disturbance estimator (UDE) based robustified nonlinear dynamic inversion (NDI) control scheme is proposed for the purpose. The UDE technique robustifies the NDI based controller by providing estimate of the lumped or total disturbance thereby enabling rejection of the same. The effectiveness and benefits of the proposed scheme are confirmed through six–DOF simulations considering nonlinear quadrotor dynamics under ideal as well as perturbed flight conditions. Further, the efficacy and superiority of the proposed control scheme are validated through Monte–Carlo simulations and experimental validation on Quanser’s 3–DOF Hover setup.

在本文中，研究了四旋翼在系统非线性，输入耦合，空气动力学不确定性和外部风扰作用下的鲁棒位置和姿态跟踪控制问题。为此，提出了一种基于不确定性和扰动估计器的鲁棒非线性动态反演（NDI）控制方案。UDE技术通过提供集总干扰或总干扰的估计值来增强基于NDI的控制器的可靠性，从而能够拒绝该控制器。考虑到理想和扰动飞行条件下的非线性四旋翼动力学，通过六自由度仿真验证了所提方案的有效性和益处。进一步，