xx x

Vol. xx No. x

Control

and

Decision

xxxx x
Xxx. xxxx

: 1001-0920 (0000) 00-0000-00

L1
, , , ,
( 050003)
: , L1 .
; , ;
, L1 .
. .
: L1
: V249

: A

Quadrotor UAV L1 Adaptive Block Backstepping Attitude Controller

ZHEN Hong-tao, QI Xiao-hui, LI Jie, SU Li-jun, TIAN Qing-min
(Department of UAV EngineeringOrdnance Engineering CollegeShijiazhuang 050003ChinaCorrespondent
ZHEN Hong-taoE-mailzhenhot@163.com)
Abstract: A L1 adaptive block backstepping attitude controller is proposed for the attitude control problem of a quadrotor
UAV. The attitude kinematical model of quadrotor is translated into a class of multi-input multi-output uncertain nonlinear
system. According to the strict feedback architecture of the system, the block backstepping controller is designed for the
out-loop subsystem. In order to compensate the influence of the existing uncertainties of exterior disturbances and interior
parameters perturbation in the inner-loop subsystem, the L1 adaptive control algorithm is introduced. The stability analysis
shows that the closed-loop system signals are uniformly bounded. The simulation and attitude stabilization experiments
confirm the effectiveness and robustness of the proposed control architecture.
Key words: quadrotorattitude controlL1 adaptive controlblock backsteppinguncertainty

[4, 5] .

, ,

[1, 2] .

. ,

. [6] [7]

; [8]

, :

, ,

; [9]

. ,

(SISO) ,

(MIMO) . , [10]

; [11]

. , (Backstepping)

MIMO

[3]

: xxxx-xx-xx: xxxx-xx-xx.
: (1986), , , , (1962), ,
, , , .

xx

; [12] ,

; kL ; i ;

l ; kQ

, .

; (kDx , kDy , kDz )

Cao Hovakimyan 2006 L1

; [ L M N ]T
; [ Ld Md Nd ]T ;
[
]T [
]T
= kDx p kDy q kDz r
LD MD ND

[13, 14] , ,
,
, .

, ,
L1 , .
,
MIMO ;
, ,
,
;
, L1 ,
,

.
,

= p + (q sin + r cos ) tan ,

= q cos r sin ,

= (q sin + r cos ) sec ,

p = a1 qr + b1 kL (22 42 ) + c1 p + 1 ,

q = a pr + b k ( 2 2 ) + c q + ,

2
2 L
2
2

3
1

r = a qr + b k ( 2 2 + 2 2 ) + c r + .
3
3 Q
3
3
1
2
3
4
,

Jy Jz
l

a
=
b1 =
1

Jx
Jx

Jz Jx
l
a2 =
, b2 =
,
J
J

y
y

a3 = Jx Jy
b3 =
Jz
Jz

k
L + Ld

c1 = Dx

1 =

J
Jx
x

M + Md
kDy
c2 =
.
, 2 =
Jy
J

c3 = kDz
3 = N + Nd
Jz
Jz

; Lyapunov
; ,
.

2
[15]


1 sin tan cos tan
p

cos
sin q .
=0

0 sin sec cos sec

r

(4)

(1)

, , ;

p, q, r .

p
0 r q
p
L

J q = r 0 p J q + M .
r

, J R

33

p 0

[
]T
[
]T
x1 = , x2 = p q r ,

kL (22 42 )
(
)

u =
kL 32 12
,
( 2
)
kQ 1 22 + 32 42

(2)

, J = diag(Jx ,Jy ,Jz ) ; L, M, N

MIMO

{
x 1 = f1 (x1 ) + b1 (x1 )x2 ,

,
[4]

L = LR + LD + L + Ld ,

M = MR + MD + M + Md ,

N = NR + ND + N + Nd .
,

LR

MR =
NR

)
(
lkL 22 42
(
)
lkL 32 12

(
)
kQ 12 22 + 32 42

(5)

x 2 = f2 (x1 , x2 ) + b2 (x1 , x2 )u.

,
(3)

1 sin tan cos tan

f1 = 0 3 , b1 = 0

cos

sin

0 sin sec cos sec

a1 qr + c1 p + 1
b1 0 0

f2 = a2 pr + c2 q + 2 , b2 = 0 b2 0 .

a3 pq + c3 r + 3

0 0 b3

 : L1

(5) , .

3
3.1

, k2 > 0 . Lyapunov
1 T
1 T
V2 = x
x
1 + x
x
2 ,
2 1
2 2
ud

(12)

V 2 = x
T
2 k1 x
1 ) + x
T
2d ) =
1 (b1 x
2 (f2 + b2 ud x

T
k1 x
T
1 + x
T
2 k2 x
T
2 x
T
1 =
1x
1 b1 x
2x
2 b1 x

, .
L1 ,
1 .

k1
x1 k2
x2 .

(13)

Lyapunov , (13) ,
(5) .
, ud
f2 , ,
, L1
.
3.3

L1

(10) MIMO
1

x1d ,
x2d .
L1
, u,
x2d . x2
, x1d .
3.2
Step 1

x(t)

= Ax(t) + B(u(t) + (t)x(t)) + (t),

y(t) = Cx(t).

, A = 033 , B = b2 , C
( = I33 ;
)
u ; (t) = diag c1 Jx /l c2 Jy /l c3 Jz
; y ;

a1 qr + 1

(t) = a2 pr + 2

(5)

a3 qr + 3

x 1 = f1 (x1 ) + b1 (x1 )x2 .

(6)
[
]T
x1d = r r r ,

x1 = x1 x1d R3 ,

x2d = b1
1 + f1 x 1d ).
1 (k1 x

(7)

, k1 > 0 . Lyapunov
1 T
1 ,
V1 = x
x
2 1
x2d

(8)

,
.
,
, .
1

[16]
(t) , (t) , t 0.

, d d

tr( T (t)(t))

d < , (t)

2 d < , t 0.

V 1 = x
T
1 = x
T
1d ) =
1x
1 (f1 + b1 x2 x
[
]
1
T
x
1 f1 b1 b1 (f1 x 1d + k1 x
1 ) x 1d =
k1 x
T
1 = k1
x1 .
1x

(14)

(t) (t) ,
(9)

Lyapunov , x2 = x2d ,

, ,

(6) .

, .

Step 2

(5)

L1

(10)

y(t) M (s)

x2 = x2 x2d R3 ,

r(t) ,

. , M (s) = H0 (s)Kg (s),

x 2 = f2 (x1 , x2 ) + b2 (x1 , x2 )u.

(
)
ud = b21 k2 x
2 + f2 + bT
1 x 2d .
1x

(11)

H0 (s) = C(sI Am )1 B , Kg ,

L1

e = x 1 x 1d = f1 + b1 x2 x 1d .

(16) ,

Km Am = A BKm Hurwitz ,
. uad (t)
, .
L1

[17] .

y(t) = C x(t).

(16)

(17)

, x(t) = x(t) x(t); R+ ;

P = P T > 0 Lyapunov AT
m P +P Am = Q

; Q ; Proj(, ) ,
(t)
(t) [18] .
3

u(s) = C(s)(
(s) Kg r(s)),
(t) = (t)x(t) +
(t).
,

(s),

(s) (t),

r(s),

(18)
r(t),

(t) Laplace ; C(s) Rmm

, C(0) = Imm .
L1 L1

[19]

(21)

, =
=
,

= = Proj(
(t), (
xT (t)P B)T xT (t)) ,

(22)

(t) (t) , x
(0) = x(0).

(t) = Proj(
(t), (
xT (t)P B)T ).

e = x
2 x 2 = Am e + B(
x2 +
).

=
= Proj(
(t), (
xT (t)P B)T ) .

, x Rn , (t) Rmn ,
(t) Rn x(t) ,
2

(t) = Proj(
(t), (
xT (t)P B)T xT (t)),

(20)

e = x2 x2 , e

(15)

, um (t) = Km x(t) ,

1
x (t) = Am x(t) + B(u(t) + (t)x(t)) +
(t),

xx

(6) ,

u(t) = um (t) + uad (t).

Lyapunov
V = V1 + V =
1
1 T
1 T
e e + eT P e + tr(
T ) + (

). (23)
2

V ,
T
2
2 T
V = eT e + e P e + eT P e + tr(
T ) + (

) =

2
e + 2
eT P B x2 +
k1 e + eT (AT
m P + P Am )
2
2 T
2
eT P B
+ tr(
T ) + (

)

2
2 T
tr(
T )
(
)

2 T
2
2
T )
(
)

k1 e eT Q
e tr(

eT Q
e + tr(
T )
+ (
T )
.
(24)

V m /,
(
(
)
4max (P )
d max tr T +
m =

min (Q)
)
(
(
)
d max 2 + 4 max tr(T ) +

)
T
max( ) .
(25)

:
G(s)L1 L < 1.

, G(s) = H(s)(I C(s)), H(s) = (sI Am )

|ij |).

L = max L1 = max(
i

(19)
1

B,

1
1 T
tr(
T ) + (

)
(

(
)
4max (P )
d max tr T +

min (Q)
(
)
(
)
4
max tr(T ) +
d max 2 +

)
max( T ) .
(26)

V = eT P e +

L1 2 .

Proj(, ) (t) , (t) ,

L1

4
e = x1 x1d , e

(
)
max tr(
T ) +
T

t0
(
)
(
)
T
T
4 max tr( ) + max( ) .

(27)

 : L1

(26) (27)
(
(
)
4max (P )
T
e P e
d max tr T +

min (Q)
)
d max 2 .
(28)

eT Q
e min (Q)
eT P emax (P )
(
)
(
)
4
T
d max tr + d max 2 (29)
.

1 2


tr(
T )
+
T 
(
)
(
)
2 d max tr T + d max 2 . (30)

(29) (30) (24)

V (t) V (t) 0.

1/41.25
0
0

Km =
0
1/41.25 0

(31)

0
1
1
1 T
2
e(0)2 + tr(
T ) + (

)
2

(
)
(
)
1 2 4
max tr(T ) + max( T )
de +

2

1 2 m
d +
.
(32)
2 e

, (31)
1
m
V (t) d2e +
, t 0.
(33)
2

, .
1
m
2
e2 V (t) d2e +
.
(34)
2

e
V (0) =

1/50

500
I33 , Q = I33 , = 10000.
s + 500
,
C(s) =

. 1
, (t) = 033 , (t) = 03 ; 2

0.2 0
0

(t) = 0 0.5 0 ,

e(0)2 de < , de , e(0) =

[19] A.2 ,

0 0.5

1.5qr + 0.1 + 0.5 sin( 2 t)

(t) = 1.5pr + 0.1 + 0.5 sin( 2 t) .

0.1 + 0.5 sin( 2 t)

,
3 4 .

1 2 m
d +
.
(35)
2 e

(35) ,
e2

.
(a)

5
5.1
, MATLAB ,
1 .
1

0.8750

kg

0.3300

Jx

0.0080

kgm2

Jy

0.0080

kgm2

Jz

0.0200

kL
kQ

kgm2
5

N s2

3.13 10
3.13 10

Ns

(b)
3

xx

(a)

states

Block Backstepping

Block Backstepping with L1

24.5225

15.1140

11.2011

1.3131

11.4646

10.1949

:
1 3(a)
, ,
,
.
2 3(b) ,

(b)

. L1

3(a) .

1 5 ,

2 , ,

1 , p q 3 /s ,

, L1

r 5 /s .

3 4 L1

2,

M (s) ,

. 5(a)

, , L1

. 5(b)

. L1

5.2

L1 .

, L1

, : = 12 ,

= 15 , = 0 , : = 0 , = 0 ,

= 0 . 5 .

L1

: L1

. L1

[10] , , , .

[J]. , 2011, 32(12):

2259-2267.

(Cao L J, Zhang S X, Liu Y N, et al. Flight controller

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Society for Industrial and Applied