Stable Tracking Control Of Quadrotor UAV Based On Backstepping

The quadrotor unmanned aerial vehicle(QUAV)is a kind of rotorcraft autonomous aircraft which can take off and land vertically.It changes the attitude and position of UAV by adjusting the rotorcraft speed.Because its feature of easy to operate,light weight,small structure,and suitable for complex flight environment,it is widely used in environmental monitoring,aerial photography and other areas of life.However,due to the non-linearity,underactuation and serious coupling of the QUAV model,the control requirements of the QUAV are becoming more and more higher,and the control problems of the QUAV have attracted the attention of many scholars.In this paper,the stabilization tracking control of QUAV is studied as follows:Firstly,the research background and significance of QUAV control are elaborated,and the research status and control status of QUAV are summarized.Based on its body struc-ture,the flight control principle of QUAV is analyzed,the main contents of each chapter are introduced and the structure framework is given.Secondly,considering the attitude tracking control problem of QUAV under external disturbance,a prescribed performance backstepping controller is proposed.The mathemat-ical model of QUAV is obtained by dynamics and kinematics theory.In order to solve the problem of output error limitation,the obstacle Lyapunov function is introduced.The exter-nal disturbance is estimated by disturbance observer,and the controller is designed under the framework of step control.Based on Lyapunov stability theory,the bounded stability of the system is proved,and the effectiveness of the designed controller is verified by simulation.Thirdly,a sliding mode backstepping controller based on disturbance observer is pro-posed to solve the position tracking control problem of QUAV under external disturbance.Because the QUAV model contains two nonholonomic constraints,the QUAV model is de-composed into two subsystems,and the back-stepping controller and sliding mode controller based on disturbance observer are designed respectively.Based on Lyapunov stability the-ory,the stability of the closed-loop system is proved,and the effectiveness of the designed control strategy is verified by simulation.Finally,an adaptive backstepping controller is designed to track the attitude and position of a QUAV under external disturbances.The adaptive technique is used to estimate the upper bound of unknown external interference.Combining with backstepping control,the attitude subsystem and position subsystem controllers are designed respectively.Based on Lyapunov stability theory,the asymptotic stability of the closed-loop system is proved,and the effectiveness of the designed control strategy is verified by simulation.