基于串级线性自抗扰的四旋翼姿态控制方法

针对四旋翼无人机姿态调整过程中，由于参数不确定性及外界环境干扰，往往给姿态控制带来一定困难。本文研究提出一种基于串级线性自抗扰的四旋翼姿态控制方法。首先建立四旋翼无人机的动力学姿态模型，提出采用串级PID双环路控制架构，将姿态控制任务分解为内外两个环路。采用Levant微分器提取控制参量，以强化跟踪能力。此外，对原线性自抗扰控制器进行优化，旨在更好地消除外界随机扰动对系统的影响。利用MATLAB Simulink环境对提出的控制方法进行模拟，结果表明相比传统方法，该方法能更好地抑制系统受扰动引起的影响，增强系统对期望信号的跟踪能力，从而明显提高了四旋翼无人机姿态调整的精度与稳定性，以及四旋翼无人机姿态控制的精度和鲁棒性。

Quadrotor Attitude Control Method Based on Cascade LADRC

For the quadrotor UAV attitude adjustment process, the existence of parameter uncertainty and external environmental interference often cause certain difficulties to the attitude control. This paper studies and proposes a quadrotor attitude control method based on cascade linear active disturbance rejection. First, the dynamic attitude model of the quad-rotor UAV was established, and a cascade PID dual-loop control architecture was proposed to decompose the attitude control task into two internal and external loops. The Levant differentiator is used to extract control parameters to enhance tracking capabilities. In addition, the original linear active disturbance rejection controller is optimized to better eliminate the impact of external random disturbances on the system. The MATLAB Simulink environment was used to simulate the proposed control method. The results show that compared with traditional method, this method can better suppress the influence of the system caused by perturbations and enhance the tracking ability of the system to the desired signals, which significantly improves the precision and stability of the attitude adjustment of the quadcopter UAV, and improves the precision and robustness of the attitude control of the quadcopter UAV.