Chinese Journal of Intelligent Science and Technology ›› 2019, Vol. 1 ›› Issue (2): 133-139.doi: 10.11959/j.issn.2096-6652.201924

• Regular Papers • Previous Articles     Next Articles

Integral back-stepping algorithm for designing the quadrotor aircraft controller

Yan GUO(),Meiping WU,Kanghua TANG,Xueying WANG   

  1. College of Intelligence Science and Technology,National University of Defense Technology,Changsha 417300,China
  • Revised:2019-06-14 Online:2019-06-20 Published:2019-09-09
  • Supported by:
    Hunan Science and Technology Innovation Platform and Talent Plan(2017RS3045);National Key R&D Program of China(2017YFC0601701)


In view of the problem that the back-stepping algorithm control model is complex and physically difficult to realize,a method of integral back-stepping algorithm for the under-actuated quadrotor aircraft was proposed in this paper.The back-stepping technique based on the Lyapunov stability theory was used to realize the effective tracking control of position and attitude,and ensure the stability of the quadrotor aircraft controller.In order to simplify the controller model,it is proposed to add the integral term in the process of the back-stepping attitude controller design according to the characteristics of the aircraft model,and set the appropriate integral term constant to reduce the burden of the controller and to enhance the practicability of the control algorithm.The controller can realize the stabilization of each attitude,the fixed point,the trajectory track of the position and yaw without error.

Key words: the under-actuated quadrotor aircraft, Lyapunov stability, the integral term, the back-stepping algorithm

CLC Number: 

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