| Popis: |
When quadrotor helicopter was in the process of attitude control, it would often have the serious problem of external interference. So disturbance observer was designed to realize real-time estimation of disturbing moment. In this case, adaptive regime is introduced to the law of integrator back-Stepping control. And experiments were made to verify the algorithm. The experiments show that the algorithm could cope with a certain range of external disturbance, and made significant improve in its accuracy and robustness. |
