Open AccessResearch on a Robust Backstepping Attitude Controller for Multi-rotor Plant Protection UAV
Author(s) -
Yunling Liu,
Yue Ma
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2066/1/012092
Subject(s) - backstepping , robustness (evolution) , control theory (sociology) , settling time , computer science , control engineering , robust control , controller (irrigation) , control system , engineering , control (management) , adaptive control , artificial intelligence , step response , agronomy , biochemistry , chemistry , electrical engineering , biology , gene
The plant protection UAV is an important application equipment for precision spraying technology. However, in the process of spraying, the change of its own load will lead to the decline of control performance and disturbance rejection ability. In order to improve the control performance of the plant protection UAV, the application research of robust backstepping control strategy is carried out, and the Robust Backstepping Attitude Controller (RBAC) is designed to force the quadrotor to follow the desired attitude. Through simulation experiments, the control effect of RBAC and the Backstepping Terminal Sliding Mode Controller (BTSMC) in the literature are compared and analysed. The simulation results show that: RBAC can improve the dynamic performance of the system. The average settling time of the system is shortened by 404.663ms, which is 24.85% faster than that of the BTSMC system. Simultaneously, the system is insensitive to external unknown disturbance and has strong robustness.