Quadrotor Aircraft Control Design Based on Improved Integral Adaptive Backstepping Sliding Mode

In the tracking control process of the quadrotor aircraft, the uncertainty of the structure in the modeling, the neglect of the small term and the external disturbance will reduce the tracking accuracy and control effect of the system. Taking these as disturbances, an integral adaptive improved integral backstepping sliding mode control (IAIIBSMC) method is proposed to realize the position control of the quadrotor with uncertain disturbances. In this paper, the integral is introduced into the adaptive reaching law, and then the integral term is extended to the control of the virtual variable on the basis of the integral backstepping control, which improves the anti-disturbance performance of the system. The controller is designed by backstepping method, and the stability of the controller is proved theoretically. When controlling the quadrotor aircraft to achieve fixed-point hovering and trajectory tracking, different control methods and different disturbances are compared experimentally. Finally, the simulation results show that the designed controller can better achieve fixed-point hovering and trajectory tracking control.