Research on adaptive control of quadrotor UAV based on backstepping method

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.