To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed...To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed,in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control.In addition,the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory.Finally,based on the numerical simulation of quadrotor UAVs using the setting parameters,the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.展开更多
基金Project(61203021)supported by the National Natural Science Foundation of ChinaProject(2011216011)supported by the Scientific and Technological Project of Liaoning Province,China+1 种基金Project(2013020024)supported by the Natural Science Foundation of Liaoning Province,ChinaProjects(LJQ2015061,LR2015034)supported by the Program for Liaoning Excellent Talents in University,China
文摘To overcome nonlinear and 6-DOF(degrees of freedom)under-actuated problems for the attitude and position of quadrotor UAVs,an adaptive backstepping sliding mode method for flight attitude of quadrotor UAVs is proposed,in which an adaptive law is designed to online estimate the parameter variations and the upper bound of external disturbances and the assessments is utilized to compensate the backstepping sliding mode control.In addition,the tracking error of the design method is shown to asymptotically converge to zero by using Lyapunov theory.Finally,based on the numerical simulation of quadrotor UAVs using the setting parameters,the results show that the proposed control approach can stabilize the attitude and has hover flight capabilities under the parameter perturbations and external disturbances.
基金Supported by National Basic Research Program of China （973 Program） （2009CB320604）, National Natural Science Foundation of China （60974043, 60904010）, the Funds for Creative Research Groups of China （60821063）, the 111 Project （B08015）, the Project of Technology Plan of Fujian Province （2009H0033）, and the Project of Technology Plan of Quanzhou （2007G6）
