Control Design of the Quadrotor Aircraft based on the Integral Adaptive Improved Integral Backstepping Sliding Mode Scheme
Zhang Jinlong,
Wang Jianhong,
Wen Ruchun
et al.
Abstract:It is known that disturbances reduce tracking accuracy and control effect. To address these issues, in this paper, the Integral Adaptive Improved Integral Backstepping Sliding Mode Control (IAIIBSMC) method for position control of the quadrotor with uncertain disturbances, is proposed. Integrals are introduced into the adaptive reaching law and are extended to the control of virtual variables based on integral backstepping control, enhancing the system's anti-disturbance performance. The final combination with… Show more
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