Adaptive robust backstepping control for quadcopter UAV based on integral sliding mode surface

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering

Background:

• Quadrotor unmanned aerial vehicles (UAVs) face challenges in trajectory tracking and hovering due to external disturbances and payload variations.
• Existing control methods often struggle with unknown disturbance bounds and real-time parameter uncertainties.

Purpose of the Study:

• To develop an advanced control scheme for quadrotor UAVs that enhances robustness against large-scale time-varying disturbances and payload mass variations.
• To ensure precise trajectory tracking and stable hovering performance under uncertain conditions.

Main Methods:

• An integral sliding mode based adaptive robust backstepping control scheme was designed.
• Lyapunov stability theory was employed to guarantee asymptotic convergence of the tracking error.
• An adaptive law with a σ-modification term was integrated to suppress chattering and ensure stability.

Main Results:

• The proposed control scheme effectively mitigated unknown time-varying disturbances and payload variations.
• Real-time estimation of uncertain system parameters was achieved.
• Simulation results demonstrated superior performance compared to traditional adaptive robust control and PID methods, showing strong robust stabilization and wide applicability.

Conclusions:

• The integral sliding mode adaptive robust backstepping control scheme provides enhanced performance for quadrotor UAVs.
• The controller ensures system stability and precise flight control even under significant external disturbances and payload uncertainties.
• This approach offers a robust and widely applicable solution for demanding UAV applications.