In this article, a scheme of anti-disturbance agile flight control is developed for a maneuverable quadrotor unmanned aerial vehicle, subject to the aerodynamic drag, dynamic shift of center of gravity (CoG), and motor dynamics. A cascaded control framework is adopted. In the translational loop, an aerodynamic drag model that considers the drag surface change is developed, containing the deep coupling information between the aerodynamic drag and the system states. A disturbance observer based on the aerodynamic drag model is subsequently designed for suppressing the aerodynamic drag force. In the rotational loop, a full quaternion-based backstepping control is adopted and a nonlinear disturbance observer with consideration of motor dynamics is designed, which can handle the dynamic CoG shift and aerodynamic drag torque. Comparative studies on both simulations and experiments manifest that the agile ability can be ensured by the proposed control framework, especially in the presence of multiple disturbances.

中文翻译：

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四旋翼飞行器多重扰动下的敏捷飞行控制算法与评估


本文针对机动四旋翼无人机开发了一种抗干扰敏捷飞行控制方案，该方案受到气动阻力、重心动态移动和电机动力学的影响。采用级联控制框架。在平移回路中，建立了考虑阻力表面变化的气动阻力模型，其中包含气动阻力与系统状态之间的深度耦合信息。随后设计了基于气动阻力模型的扰动观测器来抑制气动阻力。在旋转环路中，采用全四元数反步控制，并设计了考虑电机动力学的非线性扰动观测器，可以处理动态CoG偏移和气动阻力矩。仿真和实验的比较研究表明，所提出的控制框架可以保证敏捷能力，特别是在存在多种干扰的情况下。