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MA Zhenghua, ZHANG Qianqian , CHEN Lanping
College of Information Science and Engineering, Changzhou University, Changzhou 213164, China
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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1 动力学建模

 图 1 四旋翼飞行器动力学示意 Fig. 1 Schematic diagram of quadrotor aircraft dynamics

2 控制器设计 2.1 反演控制器设计

，则结合式(7)~(15)可得

2.2 自适应律设计

3 实验验证

 参数 值 参数 值 m/kg 0.4 α1 5 l/mm 0.3 α2 8 R/m 0.15 α3 5 Ix/(kg·m2) 0.114 α4 8 Iy/(kg·m2) 0.114 α5 2 Iz/(kg·m2) 0.156 α6 1
3.1 稳定控制实验

 图 2 3通道姿态角响应控制效果 Fig. 2 Control effect of the attitude subsystem

 图 3 4个螺旋桨的旋转速度 Fig. 3 Rotate speed of rotors
3.2 存在未建模项和干扰项的情况

 图 4 自适应积分与普通反演控制3个姿态角的响应曲线 Fig. 4 Sate parameters between adaptive integral back-stepping and back-stepping

 变量 改进Back-stepping Back-stepping 超调量/% 上升时间/s 超调量/% 上升时间/s φ 3.2 2.4 64 5.0 θ 2.6 1.8 67 5.3 ψ 2.8 2.0 68 5.2

 图 5 三维飞行轨迹 Fig. 5 The three-dimensional trajectory
4 结束语

DOI: 10.3969/j.issn.1673-4785.201405008

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#### 文章信息

MA Zhenghua, ZHANG Qianqian, CHEN Lanping