Research on Nonlinear H∞/Adaptive Backstepping Control Method for a Hex-Rotor Unmanned Aerial Vehicle

This paper concentrates on attitude control and tracking control about the hex-rotor Unmanned Aerial Vehicle (UAV). This kind of aircraft is a nonlinear, coupled MIMO system. Considering the model uncertainties and the external disturbances, good robustness is one of the key factors for the UAV. Based on the characteristics of the hex-rotor UAV model, nonlinear H\( \infty \) controller and adaptive backstepping sliding mode controller are designed to realize the attitude and position control respectively. And the control strategies are verified by the simulation. It’s proved that the control system has strong robustness to both the disturbance and the parametric variation.