Position Control Of Small-scaled Rotary Wing Uav With Gust Disturbance Using Backstepping Algorithm

In recent years, small-scaled Rotary Unmanned Aerial Vehicle (RUAV) has been widely used in many applications such as rescue, reconnaissance and surveillance, aerial shot and inspection of power line for its characteristics of small size, strong maneuverability, ability of vertical taking-off and landing. Obviously, it is important whether the position of RUAV can be stabilized accurately. However, in the practical application, it is a difficult problem to attenuate the gust wind disturbance for the controller design.The paper presents a novel position controller of small-scaled RUAV using backstepping algorithm with gust disturbance. Gust model is built in terms of high-order polynomial relatioships between forces and moments and wind speed. These relationships can be obtained by the least square identification based on the data from wind tunnel experiment. Therefore, it is not difficult for us to obtain the compensation of force and moment to gust disturbance by the gust model. Then, we superimpose the compensation on the desired force and moment designed by backstepping algorithm as the new reference force and moment in gust environment. At last, control inputs are designed based on the new reference force and moment.In the end, the algorithm is simulated at the different wind speeds in MATALAB. For verifying the ability of the proposed position controller based on gust model in wind tunnel experiment to attenuate gust disturbance, we introduce another gust model based on Dryden wind turbulence. According to comparison of two position controllers based on two different gust models, the proposed controller using gust model from wind tunnel experiment has better performance to attenuate gust disturbance.