Adaptive Robust Backstepping (ARB) Control for Quadrotor Robot in Presence of Payload Variation and Unknown Disturbances

Abstract

In this paper an adaptive robust control scheme along with its simulation on quadrotor is presented to deal with payload variation and unknown disturbance. Parametric and nonparametric uncertainties in the quadrotor model always make it difficult to design a controller to meet the performance requirement in various conditions during flight time. Adaptive robust backstepping (ARB) control, which is based on improved Lyapunov theory, is suggested to solve the problem. The proposed control scheme introduces piecewise functions into parameter adaptation law and control law to avoid control chattering while the Lyapunov function uniformly bounded is used. This choice not only provides guaranteed transient and asymptotic tracking performance but also precisely estimates the system parameters. Promising simulation results in different environments are carried out to demonstrate the efficiency and robustness of ARB control, and its advantages are indicated in comparison with conventional PID controller.