重庆理工大学学报2026，Vol.40Issue(5)：12-19,8.DOI:10.3969/j.issn.1674-8425(z).2026.03.002
面向扰动不确定性的仿鸟扑翼飞行器反步姿态控制
Backstepping attitude control of flapping wing UAVs facing disturbance uncertainty
摘要
Abstract
To address the highly nonlinear characteristics of the dynamics of bird-like flapping-wing aircrafts and the impact of internal and external disturbances on control performance,this paper proposes a backstepping attitude controller based on a disturbance observer(DOB).First,based on blade element theory,the aerodynamic characteristics of the wings are analyzed to calculate the torques,and the three-axis control torques generated by the tail on the body attitude are estimated.Then,a nonlinear dynamic model of the body is built using the Newton-Euler equations to fully reflect the nonlinear motion characteristics of the aircraft.The backstepping method is employed to recursively build a Lyapunov function and design the control law.For system disturbance,a disturbance observer is designed to estimate and compensate for the disturbances in real time.Next,based on Lyapunov stability theory,the global stability of the designed control system is proven.Numerical simulation analysis shows the control overshoots of the roll,pitch,and yaw angles with the controller stand at 10.9%,7.84%,and 2.4%respectively,with tracking error magnitudes of only 1.32%,0.4%,and 0.58%.Compared with the backstepping controller without a DOB,this approach markedly improves the system's disturbance rejection capability and control accuracy,demonstrating fairly good tracking performance and robustness in the presence of external disturbances.关键词
仿鸟扑翼飞行器/反步设计/扰动观测器/姿态控制Key words
bird-like flapping-wing aircraft/backstepping design/disturbance observer/attitude control分类
信息技术与安全科学引用本文复制引用
龚海军,黄可超,李富龙..面向扰动不确定性的仿鸟扑翼飞行器反步姿态控制[J].重庆理工大学学报,2026,40(5):12-19,8.基金项目
重庆市自然科学基金创新发展联合基金项目(CSTB2025 NSCQ-LZX0113) （CSTB2025 NSCQ-LZX0113）
