基于双频扩张状态观测器的无人机抗扰控制

This paper addresses the problem of the fast time-varying mismatch disturbance and measurement noise that inevitably exist in actual control systems, proposing a backstepping disturbance rejection control method based on the bi-bandwidth extended state observer (BESO). The BESO adjusts the bandwidth of the observer through a direction switching operator and a bi-bandwidth scaling factor. Therefore, it can accurately estimate the fast time-varying disturbance while avoiding the amplification of measurement noise. Then the backstepping control is combined with the BESO to form a step-by-step compensation control scheme, and the corresponding control law is given through the Lyapunov approach to ensure the asymptotic stability of the system for the mismatch disturbance. Suggestions for the parameter tuning process are given for engineering practice. In the end, the proposed approach is applied to the height control of a quadrotor micro-UAV. The results verify its effectiveness in the mismatch disturbance compensation and measurement noise suppression.