变结构机器人的环绕控制：一种改进自抗扰方法

Surround Control of Variable Structure Robots: An Improved Active Disturbance Rejection Method

摘要: 本文针对变结构四旋翼机器人在灾害救援与侦察任务中的飞行控制问题，提出一种基于改进自抗扰控制(ADRC)的方法。通过设计新型非线性函数lnfal替代传统fal函数，增强扩张状态观测器(ESO)对系统内外扰动的估计精度与补偿能力，从而提高控制器的抗干扰性和响应性能。在Matlab/Simulink环境中进行仿真验证，结果表明所提方法能够有效提升轨迹跟踪精度，抑制超调与振荡，加快收敛速度，表现出优于传统ADRC的鲁棒性和动态性能，适用于复杂干扰环境下的高精度控制任务。

Abstract: This paper addresses the flight control problem of a morphing quadrotor robot in disaster rescue and reconnaissance tasks by proposing an improved Active Disturbance Rejection Control (ADRC) method. A novel nonlinear function, lnfal, is designed to replace the traditional fal function, enhancing the Extended State Observer’s (ESO) capability to estimate and compensate for both internal and external disturbances, thereby improving the controller’s anti-interference performance and response speed. Simulations conducted in the Matlab/Simulink environment demonstrate that the proposed method effectively improves trajectory tracking accuracy, suppresses overshoot and oscillation, and accelerates convergence speed. The results show superior robustness and dynamic performance compared to conventional ADRC, making it suitable for high-precision control tasks in complex disturbance environments.