Electronics Optics & Control, Volume. 25, Issue 10, 89(2018)
Application of Integral Backstepping in Anti-disturbance Research of Quad-rotor UAVs
Due to the characteristics of multi-input/multi-output, strong coupling, nonlinearity and under-actuation, the quad-rotor UAVs are sensitive to the external disturbances. To solve the problem, a control system based on Integral Backstepping is proposed. Firstly, the dynamic model of quad-rotor aircraft is established. Then, a double closed-loop control structure PID controller is designed with the outer-loop of the position control loop and the inner-loop of the attitude control loop, and a controller based on Integral Backstepping method is also designed, which is proved by Lyapunov stability theory.Finally, a simulation analysis is made to the two kinds of controllers with Matlab/Simulink. The results show that the controller model using Integral Backstepping design is obviously superior to the classical PID algorithm on control precision, regulating time and anti-disturbance performance.
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CHENG Suping, LIU Zashi, HU Zhiyuan. Application of Integral Backstepping in Anti-disturbance Research of Quad-rotor UAVs[J]. Electronics Optics & Control, 2018, 25(10): 89
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Received: Dec. 6, 2017
Accepted: --
Published Online: Jan. 15, 2021
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