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

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