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Backstepping Control for Attitude Stabilization of Hexacopter Based on Nonlinear Feedforward Compensation
Received date: 2023-12-29
Revised date: 2024-03-21
Accepted date: 2024-04-10
Online published: 2024-05-08
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.
LI Shuheng , HE Defeng , LIAO Fei , MU Jianbin . Backstepping Control for Attitude Stabilization of Hexacopter Based on Nonlinear Feedforward Compensation[J]. Journal of Shanghai Jiaotong University, 2025 , 59(12) : 1891 -1900 . DOI: 10.16183/j.cnki.jsjtu.2023.652
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