Robust Attitude Control of Quadrotor Unmanned Aerial Vehicle Based on Adaptive Backstepping with Disturbance Compensation.

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Bibliographic Details
Title:	Robust Attitude Control of Quadrotor Unmanned Aerial Vehicle Based on Adaptive Backstepping with Disturbance Compensation.
Authors:	Nie, Xiao-Yan¹ niexiaoyan@stu.ustl.edu.cn, Chen, Xiao-Hong² 319993400004@ustl.edu.cn, Wang, Jie-Sheng³ wjs@ustl.edu.cn, Zhang, Wen-Long¹ zwl@stu.ustl.edu.cn
Source:	Engineering Letters. Jul2026, Vol. 34 Issue 7, p3025-3039. 15p.
Subjects:	Backstepping control method, Robust control, Quadrotor helicopters, Feedback control systems, Nonlinear mechanics, Computer simulation
Abstract:	Aiming at the problems of model uncertainty, external disturbance, and insufficient robustness of traditional control methods of quadrotor Unmanned Aerial Vehicles (UAVs) in complex flight environments, an adaptive backstepping attitude control method combining a disturbance compensation mechanism is proposed in this paper. Firstly, the nonlinear dynamic model of the four-rotor rolling channel including unknown external disturbances and parameter perturbations is established, and it is sorted into strict feedback form. Secondly, under the framework of backstepping recursive design, the disturbance online estimation law is introduced to construct an adaptive compensation term to achieve real-time approximation and active suppression of unknown disturbances. Then, based on the Lyapunov function and LaSalle invariance principle, it is proved that all signals of the closed-loop system are bounded and the attitude tracking error converges asymptotically. Finally, multi-condition simulation is carried out under the unified platform of MATLAB/Simulink, and typical scenarios such as step disturbance, sinusoidal disturbance, square wave disturbance, parameter uncertainty and noise disturbance are set and compared with PID, traditional backstepping, adaptive control and Active Disturbance Rejection Control (ADRC) methods. The results show that the proposed method performs better in overshoot, recovery time, steady-state error and anti-interference performance and can significantly improve the attitude control accuracy and robustness while ensuring the closed-loop stability. The research results provide a potential implementation scheme for highperformance attitude control of quadrotor UAVs in complex environments. [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

Description
Abstract:	Aiming at the problems of model uncertainty, external disturbance, and insufficient robustness of traditional control methods of quadrotor Unmanned Aerial Vehicles (UAVs) in complex flight environments, an adaptive backstepping attitude control method combining a disturbance compensation mechanism is proposed in this paper. Firstly, the nonlinear dynamic model of the four-rotor rolling channel including unknown external disturbances and parameter perturbations is established, and it is sorted into strict feedback form. Secondly, under the framework of backstepping recursive design, the disturbance online estimation law is introduced to construct an adaptive compensation term to achieve real-time approximation and active suppression of unknown disturbances. Then, based on the Lyapunov function and LaSalle invariance principle, it is proved that all signals of the closed-loop system are bounded and the attitude tracking error converges asymptotically. Finally, multi-condition simulation is carried out under the unified platform of MATLAB/Simulink, and typical scenarios such as step disturbance, sinusoidal disturbance, square wave disturbance, parameter uncertainty and noise disturbance are set and compared with PID, traditional backstepping, adaptive control and Active Disturbance Rejection Control (ADRC) methods. The results show that the proposed method performs better in overshoot, recovery time, steady-state error and anti-interference performance and can significantly improve the attitude control accuracy and robustness while ensuring the closed-loop stability. The research results provide a potential implementation scheme for highperformance attitude control of quadrotor UAVs in complex environments. [ABSTRACT FROM AUTHOR]
ISSN:	1816093X