计算机应用与软件2026，Vol.43Issue(1)：75-81,7.DOI:10.3969/j.issn.1000-386x.2026.01.010
风场干扰下的带臂四旋翼无人机控制
CONTROL OF QUADROTOR UAV WITH ARM UNDER WIND FIELD INTERFERENCE
摘要
Abstract
An adaptive integral backstepping control method is applied to the control of a four rotor UAV equipped with a mechanical arm to handle the problem of unstable state caused by the influence of wind field on the four rotor UAV equipped with mechanical arm when working at heights.The coupling dynamic model of the robot arm and UAV under wind disturbance was established according to Newton Euler iteration method.The adaptive integral backstepping method was used to design the control loops of position,attitude and manipulator,which could counteract the influence of wind field on UAV and improve the stability and robustness of UAV in wind field environment.The effectiveness of this algorithm was verified in MATLAB/Simulink simulation experiments.Compared with the traditional backstepping control algorithm,the control effect of adaptive integral backstepping control algorithm is better.关键词
牛顿-欧拉迭代法/机械臂/自适应积分反步法/风场Key words
Newton Euler iteration method/Mechanical arm/Adaptive backstepping method/Wind field分类
信息技术与安全科学引用本文复制引用
鲁海洋,周祖鹏..风场干扰下的带臂四旋翼无人机控制[J].计算机应用与软件,2026,43(1):75-81,7.基金项目
国家自然科学基金项目(61763006). （61763006）
