Integral backstepping based nonlinear control for quadrotor

Quadrotor is a kind of rotor unmanned aerial vehicle (RUAV), which has the feature of natural nonlinearity and strong coupling. In addition, it has complex aerodynamic characteristics such as side wind disturbance, etc. Due to these unique properties, there exist a lot of difficult problems in the control of quadrotor. In this paper, precise dynamics model is established under the consideration of gyroscopic moment and air disturbance. The model is then constructed to a convenient form, which is suitable for the integral backstepping method based controller design. Finally, the whole control system is divided into two parts, which is referred as double loop control structure. The inner loop is about the motion stabilization while the outer loop is about the position stabilization. Then, the motion controller and position controller are designed via adopting the Integral backstepping method. Finally, simulation results of tracking the constant speed signal, tracking the helix signal, and hovering with air disturbance are implemented respectively. The simulation results show that the whole system has perfect tracking effect and strong capability suppressing air disturbance. Thus, the correctness and effectiveness of the controller design method in this paper are verified.

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