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浙江大学学报(工学版)
浙江大学学报(工学版)  2026, Vol. 60 Issue (9): 1998-2006    DOI: 10.3785/j.issn.1008-973X.2026.09.017
计算机技术、自动控制技术     
四旋翼飞行器姿态指定时间抗扰学习控制
胡瑞1,2(),杨晓宇1,2,姜倩茹1,2,*(),谢树宗3,陈强1,2
1. 浙江工业大学 信息工程学院，浙江 杭州 310023
2. 浙江工业大学 浙江全省复杂系统智能感知与控制重点实验室，浙江 杭州 310023
3. 浙江科技大学 自动化与电气工程学院，浙江 杭州 310023
Prescribed-time disturbance rejection and learning control for quadrotor aircraft attitude
Rui HU1,2(),Xiaoyu YANG1,2,Qianru JIANG1,2,*(),Shuzong XIE3,Qiang CHEN1,2
1. College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China
2. Zhejiang Key Laboratory of Intelligent Perception and Control for Complex Systems, Zhejiang University of Technology, Hangzhou 310023, China
3. School of Automation and Electrical Engineering, Zhejiang University of Science and Technology, Hangzhou 310023, China
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摘要：

针对执行重复任务的四旋翼飞行器姿态系统，提出指定时间抗扰学习控制方法. 设计指定时间扩张状态观测器，引入时间尺度变换将有限指定时间范围映射到无限时间范围，使得观测器在指定时间快速估计系统状态和不确定性扰动. 设计单调递增且连续有界的时间尺度函数，确保观测器在整个时间区间内有效，避免因切换观测器引起估计值抖振的问题. 构造全限幅滑模迭代学习控制器，估计期望控制输入，以提高姿态跟踪精度和系统鲁棒性. 基于李雅普诺夫定理，证明闭环系统稳定性和分析跟踪误差收敛性. 数值仿真和实验结果表明，与滑模迭代学习控制及基于固定时间扩张状态观测器的迭代学习控制方法相比，提出的指定时间抗扰学习控制方法具有更好的抗扰性能、更快的响应速度以及更高的跟踪精度.
关键词： 四旋翼飞行器;  姿态控制;  指定时间扩张状态观测器;  迭代学习控制;  类李雅普诺夫方法    
Abstract:

A prescribed-time disturbance-rejection learning control method was proposed for the attitude system of quadrotor aircraft performing repetitive task. A prescribed-time extended state observer was designed by introducing time-scale transformation that mapped a finite prescribed-time interval onto an infinite time interval. Then the system states and uncertain disturbances were rapidly estimated within the prescribed time. A monotonically increasing, continuous, and bounded time-scale function was developed to ensure that the observer remained effective over the entire operating interval, thereby avoiding estimate chattering caused by observer switching. A fully saturated sliding-mode iterative learning controller was constructed to estimate the desired control input in order to improve the attitude tracking accuracy and system robustness. The stability of the closed-loop system was proved, and the convergence of the tracking error was analyzed based on the Lyapunov method. Numerical simulations and experimental results showed that the proposed prescribed-time disturbance-rejection learning control method achieved better disturbance-rejection performance, faster response speed and higher tracking accuracy compared with the sliding-mode iterative learning control method and the fixed-time extended state observer (ESO)-based iterative learning control method.
Key words: quadrotor aircraft    attitude control    prescribed-time extended state observer    iterative learning control    Lyapunov-like approach
收稿日期: 2025-12-24 出版日期: 2026-07-20
CLC:  TP 273  
基金资助: 国家自然科学基金资助项目（U25A20452, 62222315, 62203384, 62503430）；浙江省自然科学基金重点资助项目(LZ26F030004)；浙江省属高校基本科研业务费专业资金资助项目(RF-C2024001).
通讯作者: 姜倩茹     E-mail: 19150663287@163.com;qianrujiang@zjut.edu.cn
作者简介: 胡瑞（2000—），男， 硕士生，从事四旋翼飞行器姿态抗扰控制研究. orcid.org/0000-0009-4528-9266. E-mail：19150663287@163.com
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引用本文:

胡瑞,杨晓宇,姜倩茹,谢树宗,陈强. 四旋翼飞行器姿态指定时间抗扰学习控制[J]. 浙江大学学报(工学版), 2026, 60(9): 1998-2006.

Rui HU,Xiaoyu YANG,Qianru JIANG,Shuzong XIE,Qiang CHEN. Prescribed-time disturbance rejection and learning control for quadrotor aircraft attitude. Journal of ZheJiang University (Engineering Science), 2026, 60(9): 1998-2006.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.09.017    或    https://www.zjujournals.com/eng/CN/Y2026/V60/I9/1998

图 1  控制策略的结构图
图 2  3种方法的姿态角跟踪曲线对比结果
图 3  3种方法的控制输入对比结果
图 4  各次迭代误差绝对值的最大值
图 5  不确定性扰动估计对比
图 6  三自由度悬停平台
图 7  3种方法的姿态角跟踪曲线对比结果
图 8  3种方法的控制输入对比结果
图 9  各次迭代误差绝对值的最大值
图 10  不确定性扰动估计对比
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