Adaptive Backstepping Sliding Mode Control for Quadrotor UAV

Abstract

Quadrotor UAV has a strong mobility and flexibility in flight and has been widely used in military and civil fields in recent years. An adaptive backstepping sliding mode control (ABSMC) method is proposed to address the trajectory tracking control problem of quadrotor UAV based on actuator fault and external disturbance. In the proposed method, the switching gain of adaptive sliding mode control is constructed in the backstepping design process in order to suppress the chattering effect of sliding mode control effectively by differential iteration. Firstly, the dynamic model of quadrotor UAV with actuator fault and external disturbance is proposed, and then the controllers are designed based on the ABSMC method. Finally, the comparison experiments between sliding mode control (SMC) method and ABSMC method show that the ABSMC method can not only effectively suppress the chattering problem for the SMC method but also perform a perfect control effect.