基于SADRC的四旋翼姿态解耦控制及稳定性分析

针对四旋翼姿态控制欠驱动、强耦合的特性，提出了一种基于线性/非线性切换自抗扰控制（SADRC）的四旋翼姿态解耦控制方法。首先，以四旋翼平台为研究对象，建立了其姿态的数学模型，引入SADRC，对基本原理进行了介绍。其次，基于SADRC设计了四旋翼姿态解耦控制器，并基于Lyapunov函数对系统进行了稳定性分析。最后，通过仿真实验对SADRC控制性能进行了验证。结果表明:SADRC在某些场合抗干扰和鲁棒性方面较线性自抗扰控制（LADRC）和非线性自抗扰控制（NLADRC）具有优势，具有工程应用的潜力。 

Attitude decoupling control and stability analysis of SADRC based quadrotor system

An Switch in linear-nonlinear Active Disturbance Rejection Control (SADRC) attitude decoupling control approach was proposed due to the underactuated, strong coupling characteristics of quadrotor. First, the mathematical model of the quadrotor attitude was formulated by taking quadrotor aircraft platform as research object. The SADRC and the basic principles of it were introduced. Then, an attitude decoupling controller based on SADRC was designed, followed by the stability analysis via Lyapunov function. Finally, the control performance of SADRC is verified by simulation experiments. The results indicate that SADRC controller possesses better performance to both Linear Active Disturbance Rejection Control (LADRC) and Nonlinear Active Disturbance Rejection Control (NLADRC) in anti-disturbance and robustness in some occasions, and has potential applications in engineering practice.