Abstract
In view of the uncertainty of model parameters, the influence of external disturbances and sensor noise on the flight of coaxial rotor aircraft during autonomous flight, a robust backstepping sliding mode control algorithm for the position and attitude feedback control system is studied to solve the trajectory tracking problem of an aircraft in the case of unknown external interference. In this study, a non-linear dynamic model based on a disturbed coaxial rotor aircraft was established for an unknown flight. Then, a non-linear robust backstepping sliding mode controller was designed, which was divided into two sub-controllers: the attitude controller and the position controller of the coaxial rotor aircraft. In the controller, virtual control was introduced to construct the Lyapunov function to ensure the stability of each subsystem. The effectiveness of the proposed controller was verified through numerical simulation. Finally, the effectiveness of the backstepping sliding mode control algorithm was verified by flight experiments.
Highlights
In recent years, with the development of embedded electronic technology and sensor technology, the research and development of unmanned aerial vehicles (UAVs) has become a hot topic
A robust backstepping sliding mode controller is designed for the position and attitude feedback control system to solve the trajectory-tracking problem of an aircraft under unknown external disturbances
To verify the feasibility and practicability of the robust backstepping sliding mode control algorithm proposed in this study, it is necessary to apply this algorithm to a prototype machine for experimental testing
Summary
With the development of embedded electronic technology and sensor technology, the research and development of unmanned aerial vehicles (UAVs) has become a hot topic. Rotor UAVs have many advantages, such as compact structure, small size, and hovering ability, and are widely used They are especially suitable for reconnaissance and attacks in sensitive and uncertain environments. After analyzing various types of existing rotor unmanned aerial vehicle, it is proposed that the rotor unmanned aerial vehicle is placed as projectile and quickly reaches the specified area through the energy provided by the launch device. It is transformed into a coaxial rotor aircraft for reconnaissance, surveillance, interference, lighting, and attacks [3,4,5].
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
