【摘要】 针对四旋翼无人机飞行过程中载荷质量突然变化和外部随机风载荷引起飞行稳定性差的问题，提出一种基于自适应反步法的抗扰动控制算法。通过建立四旋翼无人机和随机风载荷的力学模型，采用位置和姿态双闭环控制解耦四旋翼无人机欠驱动和强耦合特性。内环采用自适应反步控制算法在负载质量不确定条件下系统姿态能够全局跟随期望姿态角，外环采用滑模控制抑制随机风载荷对轨迹跟踪的干扰，保证飞行的稳定性。内外环控制器均利用Lyapunov理论验证，仿真结果也论证了该控制算法的有效性和鲁棒性。更多还原

【Abstract】 An anti-disturbance control algorithm based on the adaptive backstepping method is proposed to address the problem of poor flight stability caused by sudden changes in load mass and external random wind loads during the flight of a quadrotor UAV. By establishing the mechanical model of quadrotor UAV and random wind load,the position and attitude dual closedloop control is used to decouple the underdriven and strongly coupled characteristics of quadrotor UAV. The inner loop uses an adaptive backstepping control algorithm to globally follow the desired attitude angle under load mass uncertainty,and the outer loop uses sliding mode control to suppress the interference of random wind loads on trajectory tracking to ensure the flight stability. Both the inner and outer loop controllers are verified using Lyapunov theory,and the simulation results also demonstrate the effectiveness and robustness of the control algorithm.更多还原