四旋翼飞行器的飞行控制系统可对多输入多输出的非线性系统进行稳定控制。针对复杂集总干扰下四旋翼姿态与位置的稳定控制, 提出了一种基于静态H∞输出反馈控制算法。首先通过Euler-Lagrangian方程获得四旋翼的飞行动力学模型, 并将其转换成线性系统的状态空间形式；其次根据时间尺度原理依次构建四旋翼的姿态和位置控制回路, 并设计静态H∞输出反馈控制策略来实现两个控制回路的抗干扰控制, 同时利用布谷鸟算法的寻优优势来计算最优的输出反馈控制增益；最后通过两组仿真算例对所提控制算法的有效性进行了验证, 结果表明, 基于静态H∞输出反馈控制的四旋翼系统能够有效抑制集总干扰的影响, 实现各控制环状态变量的稳定控制。

The flight control system of quad-rotor aircrafts can conduct steady control for the Multi-Input Multi-Output (MIMO) nonlinear system. Aiming at the steady control of the quad-rotors attitude and position under complex lumped disturbances, a static H∞output feedback control algorithm was proposed. Firstly, the flight dynamics model of the quad-rotor was obtained through Euler-Lagrangian equation, which was transformed into the state-space form of the linear system. Later, the control loops of the quad-rotors attitude and position was constructed according to the time-scale principle. A static H∞output feedback control strategy was designed to realize the anti-disturbance control of the two control loops. The optimal output feedback control gain was calculated by using the advantages of the cuckoo search algorithm. Lastly, two sets of simulation examples were used to test the effectiveness of the proposed control algorithm. The results show that the quad-rotor system based on static H∞output feedback control can effectively reduce the impact of lumped disturbances and realize the steady control of the state variables in all control loops.