Abstract: It is difficult to establish a system model for the internal uncertainty factors in the four rotor UAV system, and strong coupling and external environment interference increase the difficulty of vehicle control, a four rotor UAV control scheme based on active disturbance rejection control(ADRC) is proposed. By analyzing the mathematical model of the four rotor UAV system, using the ADRC strategy, the coupling between each loop, the internal uncertainties and external disturbances are regarded as the expansion state, the disturbance is suppressed by feedback compensation to make the system approximate to the series integrator type, and then which is compensated by nonlinear state feedback controller. Compared with the traditional PID simulation data, the ADRC has better control effect on the four rotor UAV system, and the control strategy has better robustness and dynamic performance.

Key words: Four rotor UAV; active disturbance rejection control, compensate, coupling

摘要： 针对四旋翼无人机系统中内部不确定性因素使得难以建立系统模型，强耦合以及外部环境的干扰增加飞行器控制困难的问题，提出基于自抗扰的四旋翼无人机控制方案。通过分析四旋翼无人机系统数学模型，采用自抗扰控制策略，将及各个回路之间的耦合和内部不确定性因素及外部干扰视为扩张状态，并通过反馈补偿进行抑制扰动使系统近似为积分器串联型，然后利用非线性状态反馈控制器进行补偿。与传统PID对比仿真数据表明，自抗扰控制器对四旋翼无人机系统具有较好的控制效果，该控制策略具有较好的鲁棒性和动态性能。

关键词: 四旋翼无人机, 自抗扰控制, 补偿, 耦合