A backstepping control strategy of variable mass quadrotor based on fault observe

The quadrotor dynamics model is established based on Newton’s motion theorem, and the adaptive fault observer is designed for the actuator fault. The attitude ring is based on the integral backstepping sliding mode to accurately track the desired attitude. The position ring considers the mass change to compensate through the designed adaptive law, and the position is controlled based on the adaptive backstepping sliding mode to complete the position tracking. Finally, the effectiveness of the proposed control scheme is verified by simulation experiments.

I. Introduction

The quadrotor has been widely used in both military and civilian fields ^{[1 , 2]} . Its main advantage is that it can fly in any direction, take off and land vertically ^{[ 3 – 5 ]} and have a simple structure ^[6] . However, it is a challenge ^[7] to design a high-performance controller quadrotor, because of characteristics, like under-actuation, uncertainty-system ^{[8 , 9]} .