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Aiming at the hovering problem of a quadrotor helicopter system under impact of wind field, in this study, a nonlinear integral backtepping controller was designed. The quadrotor helicopter is a nonlinear system which is underactuated and strongly coupled. The wind field would lead to the nonlinear change of aerodynamic force and moment and make the flight condition worse. For the highly nonlinear characteristic of the system, first we establish the dynamic model that considers the effect of wind field via Newton-Euler formalism; and then we develop a controller based on integral backstepping algorithm and validate the stability of the system by Lyapunov theory. Simulation results demonstrate that the model can accurately reflects dynamic performance of the system and the controller presents good robustness in the effect of wind field.

Modeling and Control of a Quadrotor Helicopter System under Impact of Wind Field