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Integral back-stepping algorithm for designing the quadrotor aircraft controller
- Chinese Journal of Intelligent Science and Technology Vol. 1, Issue 2, Pages: 133-139(2019)
- 作者机构：
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.201924
CLC： TP311.134.3-
Published Online：2019-06，
Published：20 June 2019
- 稿件说明：
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Yan GUO, Meiping WU, Kanghua TANG, et al. Integral back-stepping algorithm for designing the quadrotor aircraft controller[J]. Chinese journal of intelligent science and technology, 2019, 1(2): 133-139.
Yan GUO, Meiping WU, Kanghua TANG, et al. Integral back-stepping algorithm for designing the quadrotor aircraft controller[J]. Chinese journal of intelligent science and technology, 2019, 1(2): 133-139. DOI： 10.11959/j.issn.2096-6652.201924.
摘要
针对目前利用反步法设计控制律模型复杂且工程难以实现的问题，提出一种基于积分反步法的四旋翼飞行器控制律设计方法。该方法利用基于李雅普诺夫稳定性理论的反步法控制技术，实现了飞行器位置和姿态的有效跟踪控制，保证了四旋翼飞行控制器的稳定性；进一步分析飞行器模型特性，提出在对姿态控制的反步法设计中加入积分项，并通过设置适当的积分项常数来简化控制律模型，增强控制算法的实用性。仿真实验结果表明，该控制器能够无误差地实现姿态跟踪、定点到达和轨迹跟踪。
Abstract
In view of the problem that the back-stepping algorithm control model is complex and physically difficult to realize
a method of integral back-stepping algorithm for the under-actuated quadrotor aircraft was proposed in this paper.The back-stepping technique based on the Lyapunov stability theory was used to realize the effective tracking control of position and attitude
and ensure the stability of the quadrotor aircraft controller.In order to simplify the controller model
it is proposed to add the integral term in the process of the back-stepping attitude controller design according to the characteristics of the aircraft model
and set the appropriate integral term constant to reduce the burden of the controller and to enhance the practicability of the control algorithm.The controller can realize the stabilization of each attitude
the fixed point
the trajectory track of the position and yaw without error.
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references
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