Backstepping sliding mode control for flight attitude of quadrotor UAVs

Lin Lin; Yiqing Huang

doi:10.1117/12.2689789

7 September 2023 Backstepping sliding mode control for flight attitude of quadrotor UAVs

Lin Lin, Yiqing Huang

Proceedings Volume 12790, Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023); 1279047 (2023) https://doi.org/10.1117/12.2689789
Event: 8th International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023), 2023, Hangzhou, China

Abstract

In order to solve the problem of controlling position and attitude of quadrotor UAVs, The work is carried out from its characteristics of non-linearity, strong coupling and underactuation. The system stability problem when the system is disturbed by external interference is included in the system design and a backstepping sliding mode control strategy is proposed. On this basis, the Lyapunov function is designed to prove the stability of the system theoretically. Through simulation and comparative experiments, It shows that the controller has the characteristics of small tracking error, fast response time and anti-interference. The stability of the system is proved by experiments, which verifies the superiority and effectiveness of the backstepping sliding mode algorithm.

Citation Download Citation

Lin Lin and Yiqing Huang "Backstepping sliding mode control for flight attitude of quadrotor UAVs", Proc. SPIE 12790, Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023), 1279047 (7 September 2023); https://doi.org/10.1117/12.2689789

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