Adaptive control of Flight Attitude for Quadcopter Drones Based on Backstepping Sliding Mode
Quadcoper drones are widely used in complex scenarios,which puts forward higher requirements on their flight attitude control performance.Existing methods perhaps lead to the attitude control of quadcopter drones divergent or oscillatory and can not a-chieve the desired position and attitude.Therefore,based on the backstepping sliding mode algorithm,a self-adaptive control method for the flight attitude of quadcopter drones is designed.Based on the structure of a quadcopter drone,a quadcopter drone dynamic model is constructed.MEMS inertial sensors are used to measure the current position and attitude of the quadcopter drone,and the Kalman filtering algorithm is combined to decouple the flight attitude angle.According to the flight attitude control requirements of the quadcopter drone,the backstepping sliding mode algorithm is used to design a controller.The decoupling calculation results of the roll angle,pitch angle and yaw angle are used as inputs to the controller,and the output results of the controller are the flight attitude control parameters,achieving effective control of the flight attitude of quadcopter unmanned aerial vehicles.Experimental data show that after applying the proposed method to control the flight posture of quadcopter drones,the control results are basically the same as the expected position and posture,the maximum deviation between the roll angle,pitch angle,and yaw angle does not exceed 4 °,with a high control accuracy.
万方数据
维普
