四旋翼无人机飞行姿态的自适应反演滑模控制

doi:10.3969/j.issn.0255-8297.2016.03.011

Abstract

Abstract:

To overcome the problems of nonlinearity and under-drive with six degrees-offreedom in controlling attitude and position of quadrotor UAVs, an adaptive backstepping sliding mode method is proposed. An adaptive law is derived to make online estimation of control parameter variations and external disturbances. The assessment is used to compensate the backstepping sliding mode control. With the Lyapunov stability theorem, it is shown that the design method is asymptotically stable for tracking error. Numerical simulation of a quadrotor UAV using the setting parameters shows that the proposed approach achieves attitude stabilization and fixed hanging stop of UAVs with parameter variations and external disturbance.

Key words: quadrotor UAV, adaptive backstepping sliding mode control, adaptive law, tracking error

CLC Number:

V249

XU Ya-peng, SU Cheng-li, SUN Xiao-ping. Adaptive Backstepping Sliding Mode Approach to Flight Attitude of Quadrotor UAVs[J]. Journal of Applied Sciences, 2016, 34(3): 339-351.

References

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Adaptive Backstepping Sliding Mode Approach to Flight Attitude of Quadrotor UAVs

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