[1]MA Zhenghua,ZHANG Qianqian,CHEN Lanping.Attitude control of quadrotor aircraft via adaptive back-stepping control[J].CAAI Transactions on Intelligent Systems,2015,10(3):454-459.[doi:10.3969/j.issn.1673-4785.201405008]
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Attitude control of quadrotor aircraft via adaptive back-stepping control

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 3 Page number: 454-459 Column: 学术论文—智能系统 Public date: 2015-06-25
Title:
Attitude control of quadrotor aircraft via adaptive back-stepping control
Author(s):
MA Zhenghua;  ZHANG Qianqian;  CHEN Lanping
College of Information Science and Engineering, Changzhou University, Changzhou 213164, China
Keywords:
quadrotor aircraft; kinematics modeling; adaptive back-stepping control; attitude control; back-stepping; adaptive control
CLC:
TP391.9
DOI:
10.3969/j.issn.1673-4785.201405008
Abstract:
In order to solve the stabilized attitude control problem of quadrotor aircraft, a kinematics model is established according to Newton’s second law and Euler equation. Next, the model is simplified to solve the attitude control problem. After that, the attitude control system is divided into 3 second-order subsystems and each subsystem is designed by the back-stepping control method. Next, an integral term is introduced by applying the adaptive control law to compensate the errors caused by simplified model, thereby improving robustness of the system against external disturbance and uncertainty of the system model. The simulation results using Matlab show that the stabilized attitude control of quadrotor aircraft has a strong inhibitory effect using the improved adaptive integral back-stepping controller and it guarantees global stability in the case of uncertain model parameters.
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