基于改进反步法的四旋翼无人机轨迹跟踪控制

四旋翼无人机是一个欠驱动、强耦合、高度不稳定的非线性系统.无人机系统的鲁棒性和抗干扰能力是飞行控制的关键问题.在经典反步控制(classical backstepping control，CBC)方法的基础上，增加了误差积分和饱和函数，设计了积分饱和反步控制(integral saturation backstepping control，ISBC)策略，用于抵抗无人机飞行过程中受到的常值干扰和变值干扰.系统的稳定性由Lyapunov稳定性定理证明.在MATLAB/SIMULINK环境下做了轨迹跟踪仿真实验.仿真结果表明，相比CBC控制策略，ISBC控制策略对四旋翼无人机系统有更好的抗干扰能力和优越的鲁棒性.

Trajectory Tracking Control for a Quadrotor UAV Based on Improved Backstepping

Quadrotor unmanned aerial vehicle (UAV) is an underactuated， strongly coupled and highly unstable nonlinear system. The robustness and ability of anti-jamming for UAV system are the key problems of flight control. In order to restrain constant disturbance and variable disturbance during UAV flight， a novel control method named integral saturation backstepping control (ISBC) was proposed by introducing both the error integral and saturation function into classical backstepping control (CBC). The system stability was verified by the Lyapunov stability theorem. The simulation experiment of trajectory tracking was carried out using MATLAB/SIMULINK. Results of simulation experiment indicate that the quadrotor UAV system with ISBC control strategy performs better for anti-jamming and superior robustness than that with CBC control strategy.