Integrator Back-Stepping Algorithm on Attitude Control of Quadrotor Helicopter Based on Disturbance Observer

摘要

When quadrotor helicopter was in the process of attitude control, it would often have the serious problem of external interference. So disturbance observer was designed to realize real-time estimation of disturbing moment. In this case, adaptive regime is introduced to the law of integrator back-Stepping control. And experiments were made to verify the algorithm. The experiments show that the algorithm could cope with a certain range of external disturbance, and made significant improve in its accuracy and robustness.