Sliding mode controller design for UAV based on backstepping control

For the attitude control of unmanned aerial vehicle(UAV), this paper proposes a kind of adaptive sliding mode controller based on backstepping. Backstepping control has the characteristics of simpleness in designing and convenience in application. Adding the backstepping method in the sliding mode controller can avoid the appearance of the signal function, simplify the controller and maximize the advantages of the two control methods. Interference estimator based on adaptive control realizes the estimation of interference compensation without establishing interference model and foreseeing the unknown upper bound of interference. The simulations' result shows that the novel approach has considerable steady and dynamic performances, as well as good robustness, which confirms the effectiveness of the proposed control method.