基于非线性前馈补偿的六旋翼无人机姿态稳定反步控制

doi:10.16183/j.cnki.jsjtu.2023.652

上海交通大学学报 ›› 2025, Vol. 59 ›› Issue (12): 1891-1900.doi: 10.16183/j.cnki.jsjtu.2023.652

基于非线性前馈补偿的六旋翼无人机姿态稳定反步控制

李书恒¹, 何德峰¹(), 廖飞², 穆建彬¹

¹ 浙江工业大学信息工程学院, 杭州 310000
² 中国空气动力研究与发展中心空天技术研究所, 四川绵阳 621000

收稿日期:2023-12-29 修回日期:2024-03-21 接受日期:2024-04-10 出版日期:2025-12-28 发布日期:2025-12-30
通讯作者: 何德峰 E-mail:hdfzj@zjut.edu.cn
作者简介:李书恒(1998—),硕士生,从事旋翼飞行器姿态稳定控制研究.
基金资助:
国防科技创新项目(2022-4b5s-wwht-0041)

Backstepping Control for Attitude Stabilization of Hexacopter Based on Nonlinear Feedforward Compensation

LI Shuheng¹, HE Defeng¹(), LIAO Fei², MU Jianbin¹

¹ College of Information Engineering, Zhejiang University of Technology, Hangzhou 310000, China
² Aerospace Technology Institute, China Aerodynamics Research and Development Center, Mianyang 621000, Sichuan, China

Received:2023-12-29 Revised:2024-03-21 Accepted:2024-04-10 Online:2025-12-28 Published:2025-12-30
Contact: HE Defeng E-mail:hdfzj@zjut.edu.cn

摘要/Abstract

摘要：

针对未知扰动作用下的六旋翼无人机姿态稳定控制问题,提出一种非线性前馈补偿的六旋翼无人机姿态稳定反步控制方法.采用非线性未知输入观测器,估计无人机的未知外部扰动,再引入Sigmoid跟踪微分器前馈补偿该扰动估计,进而改进设计六旋翼无人机的姿态稳定反步控制器.进一步,建立姿态跟踪偏差闭环系统的稳定性结果.对比仿真实验验证了所提方法的有效性和优越性.

关键词: 六旋翼无人机, 反步控制, 前馈补偿, 非线性未知输入观测器

Abstract:

To address the attitude stabilization control problem of hexacopters under unknown disturbances, a nonlinear feedforward compensation backstepping control method for attitude stabilization of hexacopter is proposed. A nonlinear unknown input observer is employed to estimate the unknown external disturbance of the unmanned aerial vehicle. Then the Sigmoid tracking differentiator is introduced as a feedforward compensator to counteract the estimated disturbance, thereby enhancing the performance of the backstepping controller of the hexacopter. Furthermore, the stability of the attitude tracking deviation closed-loop system are established. Comparative simulation experiments verify the effectiveness and superiority of the proposed method.

Key words: hexacopter, backstepping control, feedforward compensation, nonlinear unknown input observer

中图分类号:

李书恒, 何德峰, 廖飞, 穆建彬. 基于非线性前馈补偿的六旋翼无人机姿态稳定反步控制[J]. 上海交通大学学报, 2025, 59(12): 1891-1900.

LI Shuheng, HE Defeng, LIAO Fei, MU Jianbin. Backstepping Control for Attitude Stabilization of Hexacopter Based on Nonlinear Feedforward Compensation[J]. Journal of Shanghai Jiao Tong University, 2025, 59(12): 1891-1900.

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基于非线性前馈补偿的六旋翼无人机姿态稳定反步控制

Backstepping Control for Attitude Stabilization of Hexacopter Based on Nonlinear Feedforward Compensation

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