Design Of Quadrotor Aircraft Controller Based On Backstepping And H_? Loop Shaping

The quadrotor UAV has a simple mechanical structure and control principle,strong maneuverability,high reliability and low production cost,and has been widely used in military and civilian fields.This article takes the QBAll2 UAV as the research object,and conducts research and analysis from the following aspects:(1)The structural characteristics and control mechanism of the four-rotor UAV are analyzed.The nonlinear mathematical model of the QBall2 quadrotor UAV is established in the body coordinate system and the ground coordinate system.(2)According to the relationship between the state variables of the four-rotor UAV system,it is divided into position control system and attitude control system.Aiming at the external disturbance environment,the adaptive control technology is introduced on the basis of the backstepping method.The inner loop attitude controller and the outer loop position controller are designed,and the MATLAB/Simulink simulation platform is built.The simulation proves that the adaptive backstepping method has an effect on resisting external disturbances.(3)In view of the external interference problem of the UAV in actual flight,the anti-interference ability of the system is further improved,and the H_? loop shaping technology is introduced on the basis of the adaptive backstepping method.The rationality and effectiveness of the algorithm are verified by hover flight simulation experiments.(4)Verification on the UVS platform.The components of the UVS platform are briefly introduced.Based on the platform,the verification of the adaptive backstepping method and the improved algorithm are completed.It is verified that the improved algorithm is superior to the adaptive backstepping method in terms of control precision and anti-interference,and The tracking performance of each channel of position and attitude is analyzed.