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中文摘要：
介绍了自抗扰控制器的结构组成，包括跟踪微分器、扩张状态观测器以及非线性状态误差反馈律，并给出了各部分的典型算法．针对四旋翼盘旋系统的姿态控制问题，设计了连续型和离散型两种自抗扰控制器，在Simulink下搭建了仿真结构图，并进行了参数整定．仿真结果表明，文中所设计的自抗扰控制器可以满足控制精度及快速性的要求，并且具有强鲁棒性、抗干扰性能以及对非线性强耦合系统的解耦能力．
英文摘要：
In this paper, the structure of the active disturbance rejection control technique is described in detail, including the tracking differentiator, extended state observer and nonlinear state error feedback. Typical algorithms of each part are given as well. In order to control the attitude of the quad-rotor robot as we desired, we design two kinds of ADRC, including the continuous ADRC and the discrete ADRC. Simulations were carried out based on Simulink. After parameter adjustment, the simulation results show that the ADRC can meet the need of control accuracy and swiftness of response. It also indicates that the controller has strong robustness and anti-disturbance performance, which can control the nonlinear coupling systems effectively.
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