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

doi:10.16183/j.cnki.jsjtu.2023.652

Abstract

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

CLC Number:

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.

Figures/Tables 10

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