In this paper we propose a centralized disturbance observer-based integral-augmented backstepping nonlinear motion control for a multirotor unmanned aerial vehicle (UAV). The approach explicitly compensates for rotor drag forces. The control is termed centralized as it based on the full rigid body vehicle model (i.e., rotational and translational dynamics). The dynamic state feedback includes two disturbance observers which estimate external force and torque disturbances. The effect of rotor drag is compensated in the proposed force disturbance observer and the backstepping motion controller. The closed-loop dynamics is proven to be exponentially stable in the presence of constant disturbances. The proposed control is implemented on the open-source PX4 autopilot software and validated using a Software-in-the-loop (SITL) simulation. The simulation results demonstrate the method’s robustness and steady-state error performance. Rotor drag compensation is shown to improve the tracking error performance.

在本文中，我们为多旋翼无人机 (UAV) 提出了一种基于集中扰动观测器的积分增强反推非线性运动控制。该方法明确补偿转子阻力。控制被称为集中式因为它基于全刚体车辆模型（即旋转和平移动力学）。动态状态反馈包括两个干扰观测器，用于估计外力和扭矩干扰。转子阻力的影响在所提出的力扰动观测器和反步运动控制器中得到补偿。闭环动力学被证明在存在恒定扰动的情况下呈指数稳定。建议的控制是在开源 PX4 自动驾驶仪软件上实现的，并使用软件在环 (SITL) 模拟进行验证。仿真结果证明了该方法的鲁棒性和稳态误差性能。显示转子阻力补偿可以改善跟踪误差性能。