Control design of quadrotor aircraft based on improved integral backstepping sliding mode

Abstract

An improved integral backstepping sliding mode control (IIBSMC) strategy is proposed to address the problems of long regulation time and poor disturbance resistance of integral backstepping control (IBC) for quadrotor aircraft. The IIBSMC method first introduces the integral term into the virtual variable on the basis of IBC, which makes the system respond faster, overshoot smaller and anti-interference performance stronger. After that, combined with sliding mode control, the system is further processed to improve the control performance of the system. Finally, the quadrotor is controlled to achieve fixed-point hovering and trajectory tracking, and the rotation and translation performance of the aircraft and the stability under external interference are improved. When the quadrotor aircraft is subjected to instantaneous interference, constant interference, sinusoidal interference, white noise interference, and complex interference, the simulation experiments of IBC, improved integral backstepping control (IIBC), integral backstepping sliding mode control (IBSMC), and IIBSMC are compared. It can be obviously found that the IIBSMC method has smaller system overshoot, faster recovery of the original equilibrium position, shorter adjustment time, and smaller error. When using the IIBSMC method to design the controller, the stability of the controller is theoretically proved by backstepping recursion. Finally, the simulation results show that the designed controller can better achieve fixed-point hovering and trajectory tracking control well.