中文摘要：

为了补偿四旋翼飞行器编队飞行过程中受到的模型不确定性和外部干扰,提出了一种分布式非线性扰动观测器（NDOB）.首先,考虑四旋翼模型不确定性和外部干扰,提出了一种新的四旋翼动力学模型.其次,在四旋翼飞行器的内部姿态回路中应用非线性扰动观测器,并且引入低通滤波器以滤除低频干扰.最后,引入风和不规则负载作为线性/非线性外部干扰,将NDOB控制器应用在领导-跟随的四旋翼编队中.仿真结果表明,在该观测器的作用下,扰动观测器能够完全抑制系统外部的线性风扰动,编队队形的整体偏移率在x和y轴上分别下降到0.01%和0.5%.对于非线性不规则负载运输实验,非线性扰动观测器对扰动的补偿率达到99.36%,能够有效地补偿四旋翼飞行器编队飞行过程中受到的模型不确定性和外部干扰.

英文摘要：

A decentralized nonlinear disturbance observer（ NDOB） was proposed for achieving a robust formation of UAVs subjected to the model uncertainties and external disturbances. Firstly,the dynamics model of the unmanned aerial vehicle（ UAV）,considering the model uncertainties and external disturbances was developed. Then,the NDOB controller was applied in the inner attitude loop of each UAV and a lowpass filter was introduced to filter out the lowfrequency disturbances. Finally,the wind and the irregular loads were introduced as the linear and nonlinear external disturbances,applied to the leader-follower controlled formation of UAVs. The simulation results showthat the disturbance observer can completely suppress the external linear wind disturbance and the overall offset of the formation can be reduced to 0. 01% and 0. 5% on the x and y axes,respectively. For the nonlinear irregular load transport experiment,the compensation rate of the disturbance is up to 99.36%,compensating for the model uncertainty and the external disturbance during the flight.