Integrator Back-Stepping Algorithm on Attitude Control of Quadrotor Helicopter Based on Disturbance Observer

Abstract:

When quadrotor helicopter was in the process of attitude control, it would often have the serious problem of external interference. So disturbance observer was designed to realize real-time estimation of disturbing moment. In this case, adaptive regime is introduced to the law of integrator back-Stepping control. And experiments were made to verify the algorithm. The experiments show that the algorithm could cope with a certain range of external disturbance, and made significant improve in its accuracy and robustness.

• Periodical: Advanced Materials Research (Volumes 926-930)
• Pages: 1370-1373
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.926-930.1370
• Online since: May 2014
• Authors: Guo Dong Jin*, Li Bin Lu, Xiao Fei Zhu, Juan Liang
• Keywords: Attitude Control, Backstepping Control, Proportional Integral Observer, Quadrotor Helicopter

References

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