针对油动四旋翼欠驱动、时变环境误差大、高度非线性等问题，为得到更加精准的控制量，提出了基于自适应积分反步法与混合滤波算法相结合的控制算法，并将此算法应用到振动噪声大的油动四旋翼无人机的控制系统中。在相同的仿真条件下与积分反步法进行比较试验，结果表明，应用自适应积分反步法与混合滤波算法相结合的控制算法的无人机对较强的噪声干扰具有一定的鲁棒性，能使四旋翼稳定悬停，控制效果较为理想。

The oil-driven quad-rotor UAVs have the problems as under-actuation, large time-varying environmental error and high nonlinearity. To obtain a more precise control quantity, a control algorithm based on adaptive integral backstepping method and hybrid filtering algorithm is proposed, which is then used in the control system of an oil-driven quad-rotor UAV with high vibration noise. Comparison experiments are made under the same simulation conditionsand the result shows that: Compared with the integral backstepping method, the UAV using the control algorithm of adaptive integral backstepping method combined with the hybrid filtering algorithm is more robust to the strong noise interference, and the UAV can hover stably with fine control effect.