基于反步法的四旋翼无人机自适应控制研究

doi:10.16180/j.cnki.issn1007-7820.2022.03.005

Abstract

Abstract:

An adaptive controller based on backstepping is designed to solve the problem of attitude and position control stability of UAVs under external interference. The dynamic modeling for the "X" UAV is conducted, and then converted into a strict feedback form with external interference. The system is divided into a position subsystem and an attitude subsystem. Combined with backstepping control, Lyapunov function is used to recursively deduce the adaptive law and the control law of each channel to make the system stable. Then the desired attitude angle can be inversely obtained through the channel control law, so that the system forms a closed loop. The simulation results of MATLAB-Simulink simulation model show that the controller designed in this study can effectively track the attitude and position of the UAV well in the presence of external interference.

Key words: quadrotor, unmanned aerial vehicles, backstepping method, dynamic model, Lyapunov function, controller design, external interference, simulation

CLC Number:

TP273

Xinge SHEN,Hai JIN,Liang GUO. Research on Adaptive Backstepping Control of Quadrotor UAV[J].Electronic Science and Technology, 2022, 35(3): 32-37.

Figures/Tables 8

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参数名	符号	数值	单位
无人机总质量	m	1.5	kg
无人机轴距	L	0.25	m
杭州重力加速度	g	9.793 6	m·s^-2
绕X轴的转动惯量	I_x	5.813×10^-3	kg·m²
绕Y轴的转动惯量	I_y	5.813×10^-3	kg·m²
绕Z轴的转动惯量	I_z	1.108×10^-2	kg·m²
机身阻力系数	K	2.336×10^-2	N·(m·s)^-2

Research on Adaptive Backstepping Control of Quadrotor UAV

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