UAV Control System Based on Back-Stepping and Active Disturbance Rejection Control

摘要

This paper combines back-stepping and active disturbance rejection control (ADRC) to form an integrated controller for quad-rotor UAV with multiple uncertainties. First, the aerodynamics model of the quad-rotor UAV is analyzed, and the control law of the back-stepping is deduced. Second, after analyzing the back-stepping control law, it can be rewritten and integrated with ADRC. In order to satisfy the demand of back-stepping, finite-time convergent third-order differentiator is used instead of the tracking differentiator (TD). Third, the closed-loop feedback controller for the system is established. Finally, simulation experiments under the MATLAB environment show that the integrated controller improves convergence speed and control precision.