Backstepping Sliding Mode RBF Network Adaptive Control for Quadrotor UAV

For quadrotor UAV system with external constant disturbance and variable disturbance, the backstepping sliding mode control does not have better interference immunity and robustness. This paper proposes a method combining backstepping sliding control and RBF adaptive control. Based on backstepping sliding mode control, the RBF network is constructed to approximate the external disturbance and compensate disturbance. Lyapunov method is exploited to design the adaptive law of weights, and the weight of the RBF network is estimated online. The stability of the system is certified by the Lyapunov stability theorem. The fixed-point control experiment is carried out on the simulation platform.The simulation results show when considering the external constant disturbance and variable disturbance, the method designed in this paper has shorter adjustment time and less error. The anti-disturbance performance and robustness of the backstepping sliding mode RBF network adaptive control are stronger is verified.