Journal of Northeastern University Natural Science ›› 2016, Vol. 37 ›› Issue (10): 1415-1420.DOI: 10.12068/j.issn.1005-3026.2016.10.011

• Mechanical Engineering • Previous Articles     Next Articles

Backstepping Sliding Mode Active Disturbance Rejection Control of Quadrotor Attitude and Its Stability

DOU Jing-xin, KONG Xiang-xi, WEN Bang-chun   

  1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110819, China.
  • Received:2015-07-06 Revised:2015-07-06 Online:2016-10-15 Published:2016-10-14
  • Contact: DOU Jing-xin
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Abstract: In order to solve the problem of attitude control in quadrotor unmanned aerial vehicle (UAV), an attitude controller based on backstepping sliding mode active disturbance rejection control (ADRC) was developed. The dynamic model of quadrotor UAV was introduced, and an attitude control scheme based on backstepping sliding mode ADRC algorithm was established. The proposed control scheme mainly includes extended state observer (ESO) and backstepping sliding mode controller based on the Lyapunov stability criterion. The stability analysis showed that the control system is asymptotically stable by appropriately adjusting control parameters. The simulation results indicated that the proposed control scheme has better anti-disturbance performance, adaptivity and robustness than the traditional ADRC. The system has good dynamic performance, steady state performance, and is more effective for attitude control of quadrotor.

Key words: quadrotor UAV, attitude control, active disturbance rejection control, extended state observer, backstepping sliding mode control

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