Quadrotor UAV L1 adaptive block backstepping attitude controller

被引：0
作者：
Zhen, Hong-Tao [1 ]
Qi, Xiao-Hui [1 ]
Li, Jie [1 ]
Su, Li-Jun [1 ]
Tian, Qing-Min [1 ]
机构：
[1] Department of UAV Engineering, Ordnance Engineering College
来源：
Kongzhi yu Juece/Control and Decision | 2014年 / 29卷 / 06期
关键词：
Attitude control; Block backstepping; Quadrotor; Uncertainty;
D O I：
10.13195/j.kzyjc.2013.0353
中图分类号：
学科分类号：
摘要：
An L1 adaptive block backstepping attitude controller is proposed for the attitude control problem of a quadrotor UAV. The attitude kinematical model of quadrotor is translated into a class of multi-input multi-output uncertain nonlinear system. According to the strict feedback architecture of the system, the block backstepping controller is designed for the out-loop subsystem. In order to compensate the influence of the existing uncertainties of exterior disturbances and interior parameters perturbation in the inner-loop subsystem, the L1 adaptive control algorithm is introduced. The stability analysis shows that the closed-loop system signals are uniformly bounded. The simulation and attitude stabilization experiments show the effectiveness and robustness of the proposed control architecture.
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页码：1076 / 1082
页数：6
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