关键词: 四旋翼, 姿态控制, 反步法, 鲁棒函数, 自适应控制

Abstract:

The attitude control is the key of the automatic flight control for quadrotor UAV． In order to improve the robustness of quadrotor
UAV for various uncertainties，a robust adaptive backstepping controller is designed． The whole attitude kinematical model is obtained
and translated into a MIMO nonlinear system with generalized uncertainty． Because the design feature of the system is strict feedback，
the backstepping controller is designed． A robust adaptive function is designed to counteract the influence of the uncertainties，
which include external disturbance and interior parameters perturbation． The nonlinear tracking differentiator is introduced to estimate
the differential signal of the virtual control law and to reduce the“computer explosion”problem which is ubiquitous in the backtepping
controller． The closed － loop system is proved to be stable and converge exponentially through constructing Lyapunov function． Simulation
results are presented to corroborate the effectiveness and robustness of the proposed control strategy．

Key words: quadrotor, attitude control, backstepping, robust function, adaptive control