Research on Adaptive Trajectory Tracking Algorithm for a Quadrotor Based on Backstepping and the Sigma-Pi Neural Network

摘要

In this paper, adaptive tracking control is applied to improve performances of an underactuated quadrotor helicopter with respect to attitude and position control. Firstly, the dynamic model is presented. Then a new trajectory tracking algorithm is designed by using the sigma-pi neural network and backstepping. The paper designs the sigma-pi neural network compensation control law and gives the Lyapunov-type stability analysis. Then the corresponding numerical simulations are performed by using MATLAB. Simulation results are shown to demonstrate the effectiveness of the proposed control strategy, which could reduce tracking error, decrease tracking time, and improve the anti-interference ability of the system.