Research on adaptive control of quadrotor UAV based on backstepping method

Yingxiang Li; Wenhua Wu; Xu Zhang

doi:10.1117/12.2653597

27 September 2022 Research on adaptive control of quadrotor UAV based on backstepping method

Yingxiang Li, Wenhua Wu, Xu Zhang

Proceedings Volume 12346, 2nd International Conference on Information Technology and Intelligent Control (CITIC 2022); 1234617 (2022) https://doi.org/10.1117/12.2653597
Event: 2nd International Conference on Information Technology and Intelligent Control (CITIC 2022), 2022, Kunming, China

Abstract

The quadrotor UAV is an aircraft with excellent performance such as vertical take-off and landing, hovering in the air, low-speed flight, etc. It is flexible and easy to operate. Therefore, the application of quadrotor UAVs in the military and civilian fields such as aerial photography, express transportation, plant protection, pipeline inspection, etc. has shown unique advantages. The application scenarios are being rapidly developed and have broad prospects. The control system of the quadrotor UAV has the characteristics of multi-variable, high coupling, nonlinear, and underactuated, which brings challenges to the design of the controller. For this reason, this paper established the dynamics model of the "X" quadrotor UAV, designed an adaptive controller based on backstepping, and completed simulation experiments. The simulation results show that in the presence of disturbance, the designed adaptive controller still has good control accuracy, response speed and robustness, which proves the feasibility of adaptive control in the field of quadrotor UAV.

Citation Download Citation

Yingxiang Li, Wenhua Wu, and Xu Zhang "Research on adaptive control of quadrotor UAV based on backstepping method", Proc. SPIE 12346, 2nd International Conference on Information Technology and Intelligent Control (CITIC 2022), 1234617 (27 September 2022); https://doi.org/10.1117/12.2653597

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available