Adaptive Backstepping Sliding Mode Approach to Flight Attitude of Quadrotor UAVs
Received date: 2015-10-19
Revised date: 2016-01-21
Online published: 2016-05-30
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.
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 . DOI: 10.3969/j.issn.0255-8297.2016.03.011
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