基于自适应积分反步的四旋翼飞行器控制

Adaptive integral backstepping control of quadrotor

四旋翼飞行器系统是强耦合、多输入多输出(MIMO)和非线性的。首先进行动力学建模,考虑模型参数确定与阵风干扰两种情况;然后提出了一种自适应积分反步控制方法应用于飞行器跟踪期望轨迹,整个控制系统采用双闭环回路结构,内回路用于控制姿态,外回路用于稳定位置;最后在模型参数确定的情况下,与积分反步法(integral backstepping,IB)进行实验对比。在模型参数不确定情况下,对飞行器的期望姿态和位移进行跟踪,结果表明,应用自适应积分反步(adaptive integral backstepping,AIB)控制算法的飞行器对外界较强阵风干扰和模型参数不确定具有一定的鲁棒性,能够较为精确地完成轨迹跟踪任务。

The quadrotor is multi-input multiple output(MIMO),strong coupling and nonlinear systems.Firstly,considering the quadrotor systems with parameters known and the external strong gust interference,this paper established the models.Se-condly,it proposed an adaptive integral backstepping control method for the quadrotor aircraft.It used the double closed loop structure for entire control system,the inner loop controlled the attitude,and the outer loop stabilized the position.Finally,it contrasted with integral backstepping(IB)when determined the model parameters.In the case of uncertain model parameters,tracked the attitude and position of the quadrotor.The simulation results show that the adaptive integral backstepping(AIB)control algorithm has a certain robustness to the external strong gust interference and the model parameters uncertainy.Perform a trajectory tracking task more accurately.