四旋翼在航拍攝影、探勘、科學研究和救援任務等多種應用場景中扮演著重要的角色。然而由於四旋翼系統的非線性以及外部干擾和量測雜訊的存在，實現高度精確的位置控制仍然面臨著一定的挑戰。在四旋翼位置控制中，需要依賴姿態角的變化來間接實現位置軌跡追蹤的目標。然而一些現有文獻在串聯控制器設計中忽略了姿態暫態的重要影響，這導致位置追蹤性能不如預期。事實上姿態追蹤響應的暫態行為不能被忽視，因此需要同時考慮姿態迴路的閉迴路穩定性和位置追蹤。本研究提出了一種積分逆步控制器的位置和姿態控制回路的綜合控制設計。該控制器的實現依賴於虛擬控制輸入的導數。先前的研究通常使用數值微分方法來近似計算虛擬控制法則的導數。然而在實際應用中，數值微分可能會在存在量測雜訊的情況下導致控制信號的顫震(chattering)現象。這種顫震行為將會對致動器造成損害，或使系統響應發散。為了解決這個問題，本論文推導出虛擬控制導數的解析形式。將虛擬控制導數分解為無關干擾的可補償項和與干擾耦合的不可補償項。通過利用可補償項，可以顯著減少由於對量測雜訊進行微分而引起的控制信號抖動。模擬結果表明，所提出的控制算法在位置追蹤性能方面優於傳統的雙迴路控制器。同時應用提出的控制器可以獲得較平滑的控制信號。本論文以模擬來說明四旋翼控制中的位置追蹤問題，並驗證了所提出的綜合控制器的有效性與強健性。

Prior research tends to overlook the significant transient behavior of attitude tracking in the position controller design for quadrotor systems, resulting in suboptimal position tracking performance. To tackle this issue, this study proposes a flight controller design that integrates position and attitude dynamics using an integral backstepping control approach. Traditional methods approximate the derivatives of virtual control laws using numerical differentiation, leading to control signal chattering in the presence of measurement noise, potentially causing damage to actuators and system response divergence. To mitigate this problem, the study derives an analytic form for the derivative of the virtual control law, separating it into disturbance-independent compensable and disturbance-dependent non-compensable components. By utilizing the compensable term, control chattering caused by noise differentiation is significantly reduced. Simulation results demonstrate the superiority of the proposed control algorithm over the conventional dual-loop scheme in terms of position tracking performance while ensuring relatively smooth control signals for practical implementation. These simulations effectively illustrate the effectiveness of the proposed compromised control scheme in addressing the position tracking challenges encountered by quadrotor systems.

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