Abstract
The uncertainty of the model parameters of the quadrotor brings great challenges to the controller design, especially the uncertainty of the arm length will affect the virtual control input, resulting in the deterioration of the control performance. For the quadrotor system with variable arm length, a control strategy based on integral backstepping method is proposed in this paper. By dividing the quadrotor system into attitude and position subsystems, the arm length is regarded as an unknown parameter in the attitude subsystem. Then, the adaptive method is used to estimate the unknown parameters, and the integral backstepping method is used to design the attitude controller. The position controller is designed based on the integral backstepping method. The stability and tracking performance of the closed-loop system are proved by using Lyapunov theorem. Finally, the numerical simulation results show the effectiveness of the designed control law on a quadrotor model with uncertain arm length.
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