四川轻化工大学学报（自然科学版）2025，Vol.38Issue(2)：74-81,8.DOI:10.11863/j.suse.2025.02.09
四旋翼无人机反步超螺旋滑模姿态控制器设计
Design of Backstepping Super Twisting Sliding Mode Attitude Controller for Quadrotor Unmanned Aerial Vehicle
摘要
Abstract
Aiming at the characteristics that the attitude tracking of quadrotor unmanned aerial vehicle(UAV)has high requirements for the response speed and anti-interference ability of the controller,a backstepping super twisting sliding mode controller(BSTC)has been designed.Firstly,the nonlinear model of the quadrotor UAV is established by using the Newton Euler equation,and then the height and attitude controller are designed by combining the backstepping method and the super twisting sliding mode algorithm.Finally,the stability of the system is proved by Lyapunov stability criterion.Simulation experiments results show that compared with PID controller and backstepping sliding mode controller,when the height error of UAV is not more than 5×10-2 m,for example,the height tracking speed of the designed controller is increased by 65.75%compared with PID controller and increased by 32.58%compared with backstepping sliding mode controller.At the same time,the designed controller has stronger anti-interference ability,whose attitude control performance is better.关键词
四旋翼无人机/姿态控制/反步法/反步超螺旋滑模控制器Key words
quadrotor unmanned aerial vehicle/attitude control/backstepping/backstepping super twisting sliding mode controller分类
信息技术与安全科学引用本文复制引用
李洲官,严月浩,曾伟,韩强,王博浩..四旋翼无人机反步超螺旋滑模姿态控制器设计[J].四川轻化工大学学报（自然科学版）,2025,38(2):74-81,8.基金项目
中国高校创新基金项目(2021ZYA09002) （2021ZYA09002）
