具有死区和外部干扰的四旋翼无人机姿态控制

2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC) Pub Date : 2021-05-28 DOI:10.1109/YAC53711.2021.9486495

Chao Chen, N. Duan, Shuo Li, Zhizheng Xu

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引用次数: 1

摘要

研究了存在死区和外界干扰的四旋翼无人机姿态自适应控制问题。设计了一种基于反步的姿态控制器，并设计了自适应律来补偿输入死区和外界干扰的影响。所设计的控制器保证了四旋翼无人机的姿态角能够跟踪期望的姿态角。最后，仿真结果验证了所设计方案的有效性。

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Attitude control for quadrotor UAV with dead zone and external disturbance

This paper investigates adaptive attitude control for quadrotor unmanned aerial vehicle (UAV) with dead zone and external disturbance. A attitude controller is designed based on backstepping, and adaptive law is designed to compensate the influence of input dead zone and external disturbance. The designed controller guarantees that attitude angle of quadrotor UAV can trace the desired attitude angle. Finally, simulation results have demonstrated the effectiveness of the designed scheme.

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2021 36th Youth Academic Annual Conference of Chinese Association of Automation (YAC)

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