An Anti-recoil Force Attitude Control Scheme of UAV for Insulator Washing

In this paper, a nonlinear robust attitude control method for unmanned aerial vehicle(UAV) is proposed based on backstepping. First, the dynamic equations of UAV are established according to its motion model. Second, the momentum theorem and the Bernoulli equation are applied to model the recoil force. Then, an attitude controller is designed so that the UAV can maintain stable flight and complete the task of flushing insulators when it is impacted by the recoil force and other external disturbances. Finally, the UAV system is simulated by MATLAB. The simulation figures show that the nonlinear attitude control method proposed in this paper is robust and effective.