A novel backstepping control for attitude of fixed-wing UAVs with input disturbance

摘要

In this paper, a novel backstepping inverse optimal control algorithm is proposed to realize robust control for attitude of fixed-wing (unmanned aerial vehicles) UAVs with input disturbance. The backstepping controller is used to stabilize all attitude variables by sufficiently applying Lyapunov theory and the input disturbances are cancelled via compensation of an estimator. In flight control, attitude control is consider as inner-loop in common, and it is significant to make sure control of inner-loop is fast and accuracy. The method proposed here determine the control parameters guaranteeing closed-loop stability and improve performance of controller with accurate aircraft dynamic model. Simulation results in MATLAB and X-plane environment show the effectiveness and applicability of the proposed controller.