基于积分反步法的四旋翼滑模轨迹跟踪算法

An integral backstepping based sliding mode position controller is designed to solve the tracking error caused by the unknown disturbance on the quadrotor. In this control system, the sliding mode integral backstepping (IBS-SMC) nonlinear control method is adopted in the position control loop, and the classical proportion integration differentiation (PID) control method is adopted in the attitude control loop. The PID, linear quadratic regulator and IBS-SMC methods are compared by simulation. The simulation results show that compared with the traditional methods, the IBS-SMC method has a better anti-interference ability and control accuracy. Finally, the feasibility of the control algorithm is verified by flight experiments. The experimental results show that the IBS-SMC method is a control method that accords with engineering practice.