基于参数估计的四旋翼无人机自适应鲁棒路径跟随控制器

To improve the path following accuracy and flight robustness of quadrotor UAVs, an adaptive robust path following controller based on parameter estimation is proposed. The controller can adaptively estimate the gyroscopic factors and drag coefficients for the UAV model, compensate the system’s control input based on estimated values, and offset the negative impact of the external environment with an anti-interference capacity. The controller can effectively improve the path following and anti-interference performance of quadrotor UAVs. First, a nonlinear mechanical model of a quadrotor UAV is established. Second, the path following targets for UAVs are divided into attitude angle targets and moving position targets. Third, the backstepping sliding mode method and adaptive control method are used to design the control input equation and the estimation updating law of the UAV. Simultaneously, the asymptotic stability of the UAV attitude system and motion position system is verified by applying the Lyapunov method. Lastly, the effectiveness and superiority of the proposed controller are verified by simulation and experiments.