Research On Adaptive Control Method Of Quadrotor UAV Based On Backstepping Method

Quadrotor UAV refers to unmanned equipment that can achieve flight missions through remote control or on-board programs.Relying on the advantages of flexible mobility,low cost,and the ability to perform tasks in harsh environments,from military to civilian fields,quad-rotor drones have become participants in human activities.In this paper,the quadrotor UAV is taken as the research object.It is a kind of nonlinear system with strong coupling and underdrive.Therefore,this paper applies the non-linear control method backstepping method to the system,and makes appropriate improvements based on the backstepping method to improve the performance of the system.The innovative point of this paper is: considering the external constant interference and sinusoidal interference,based on the backstepping method and the backstepping sliding mode method,respectively,the RBF network is introduced to compensate the external interference and improve the anti-interference performance of the system.The main research work of this article is:(1)Establish a four-rotor UAV model.Based on the force analysis and Newton-Euler and other kinematic principles and dynamic relationships,the dynamic model of the quadrotor UAV is derived according to the formula.On this basis,ignore the influence of air resistance,simplify the model appropriately,and consider the existence of external constant and sinusoidal wind disturbances in the three directions of the airframe,and add the disturbance term,which finally can be used for simulation.The researched mathematical model of the four-rotor UAV dynamics lays the foundation for the design of the controller in the following.(2)Design a four-rotor UAV RBF network adaptive controller based on backstepping method.First,on the premise that there is no interference from the outside,based on the principle of the backstepping control algorithm,a traditional backstepping control algorithm is designed;then,considering the presence of constant external wind disturbance and sinusoidal wind disturbance in three directions: Based on the backstepping control,the RBF network adaptive control algorithm is introduced to design a backstepping RBF network adaptive controller,which aims to solve the problem of time-varying disturbances and constant-value disturbances.The improved algorithm’s anti-jamming performance can be improved.(3)Design a four-rotor UAV RBF network adaptive controller based on the backstepping sliding mode method.In order to further improve the control performance,it can effectively deal with constant value wind disturbance and sine value wind disturbance.First,based on the backstepping method,a sliding mode variable structure control is introduced to design a backstepping sliding mode controller.Then,the RBF network adaptive algorithm is combined with the backstepping sliding mode control to design the backstepping sliding mode RBF network adaptive controller,and the simulation and comparison experiments are performed to verify the improved algorithm has improved anti-interference performance.