Abstract: Aiming at the disturbance problem with time-varying uncertain bounds caused by external uncertain disturbance and uncertain parameters of system in the control of quadrotor,the backstepping sliding mode controller for attitude based on feedforward compensation was designed.The 6-DOF dynamic model of quadrotor with uncertain disturbance was established by Newton-Euler method.The uncertain disturbance in the attitude system of quadrotor was estimated by Nonlinear Disturbance Observer (NDO).Furthermore,the backstepping sliding mode controller was designed based on the feedforward compensation of uncertain disturbance’s estimation.The stability of system was proved with Lyapunov theory.The simulation results indicated that the designed controller could effectively suppress the uncertain disturbance caused by external disturbances and uncertain parameters of system,and realize the robust control of quadrotor.The discontinuity of control input like traditional sliding mode was improved.Through the simulation and fight test,the robustness of the designed controller under uncertain disturbance with time-varying was verified.

Key words: quadrotor, uncertain disturbance, nonlinear disturbance observer, feedforward compensation, backstepping sliding mode control

摘要： 针对四旋翼控制中由外部不确定干扰和系统参数不确定引起的具有时变特性的不确定界干扰问题,设计一种不确定干扰前馈补偿的反步滑模姿态抗干扰控制方法。采用牛顿欧拉方法建立带不确定干扰的四旋翼6自由度动力学模型,然后采用非线性干扰观测器对姿态系统中的不确定干扰进行观测估计,进而基于不确定干扰估计量的前馈补偿设计反步滑模控制器,最后通过Lyapunov理论验证了系统的稳定性。仿真结果表明,所设计的控制器可以有效解决外部干扰和系统参数不确定导致的系统高阶不确定性问题,实现不确定干扰下的四旋翼鲁棒控制,同时改善传统滑模中控制输入不连续的情况。通过仿真与抗干扰飞行实验验证了所设计的控制策略在应对快时变特性干扰时具有较好的鲁棒性。

关键词: 四旋翼, 不确定干扰, 非线性干扰观测器, 前馈补偿, 反步滑模控制