Design of A Backstepping Integral Adaptive Controller for Quadrotor UAV

doi:10.3969/j.issn.1000-1093.2021.06.019

Abstract

Abstract: For the quadrotor unmanned aerial vehicle (UAV) with mass varying in practical application, a mass observer based on adaptive control theory is designed to estimate the real-time mass and correct the mass parameter of UAV. A backstepping integral adaptive controller (BIAC) for trajectory tracking of UAV is developed with the mass observer and the first kind of control error integral on the basis of classical backstepping controller (CBC). The control errors of system are asymptotically stabilized because the design process of controller is based on Lyapunov theory. The trajectory tracking simulation experiment was made in MATLAB/Simulink simulation environment. The simulated results indicate that the real-time mass of UAV can be estimated by using BIAC very well in the case of slow mass change or mass mutation of UAV, and the track error of z_e-axis in earth coordinate system Exeyeze with BIAC is decreased by about 80% compared with CBC.

Key words: quadrotorunmannedaerialvehicle, backsteppingcontrol, adaptivecontrol, massobserver, errorintegral

CLC Number:

WANG Huidong， ZHOU Laihong. Design of A Backstepping Integral Adaptive Controller for Quadrotor UAV[J]. Acta Armamentarii, 2021, 42(6): 1283-1289.

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