基于改进反步法的四旋翼无人机轨迹跟踪控制

Trajectory Tracking Control for a Quadrotor UAV Based on Improved Backstepping

四旋翼无人机是一个欠驱动、强耦合、高度不稳定的非线性系统.无人机系统的鲁棒性和抗干扰能力是飞行控制的关键问题.在经典反步控制(classical backstepping control,CBC)方法的基础上,增加了误差积分和饱和函数,设计了积分饱和反步控制(integral saturation backstepping control,ISBC)策略,用于抵抗无人机飞行过程中受到的常值干扰和变值干扰.系统的稳定性由Lyapunov稳定性定理证明.在MATLAB/SIMULINK环境下做了轨迹跟踪仿真实验.仿真结果表明,相比CBC控制策略,ISBC控制策略对四旋翼无人机系统有更好的抗干扰能力和优越的鲁棒性.

Quadrotor unmanned aerial vehicle （UAV ） is an underactuated,strongly coupled and highly unstable nonlinear system. T h e robustness a n d ability of anti-jamming for UAV system are the key problems of flight control. In order to restrain constant disturbance and variable disturbance during UAV flight, a novel control m e t h o d n a m e d integral saturation backstepping control （ISBC ） was proposed b y introducing both the error integral a n d saturation function into classical backstepping control （CBC ）. T h e system stability w a s verified b y the L y a p u n o v stability theorem. The simulation experiment of trajectory tracking w a s carried out using M A T L A B / SIMULINK . Results of simulation experiment indicate that the quadrotor UAV system with I S B C control strategy performs better for anti-jamming and superior robustness than that with C B C control strategy.