This paper investigates an adaptive backstepping control based on the immersion-and-invariance (I&I) method for a rotorcraft’s trajectory-tracking control problem. To effectively cope with both parametric uncertainties and external disturbances affecting all forces and moments of a rotorcraft, the I&I-based disturbance observer is designed and combined with an adaptive backstepping controller. During the design process, a simple form of the observer structure is suggested, and the performance of the observer is analyzed using a candidate Lyapunov function. Then, the closed-loop stability of the adaptive controller is analyzed for both time-invariant and time-varying disturbances. Additionally, the tuning function-based adaptive backstepping controller is designed and used to investigate the outperformance achievable with the proposed method. Finally, comparative simulation results using a high-fidelity rotorcraft math model is provided to show the effectiveness of the proposed strategy.

中文翻译：

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使用基于浸没和不变性的自适应反步控制的旋翼飞行器鲁棒轨迹跟踪控制

本文研究了一种基于浸没和不变（I&I）方法的旋翼飞行器轨迹跟踪控制问题的自适应反步控制。为了有效应对影响旋翼飞行器所有力和力矩的参数不确定性和外部扰动，设计了基于I&I的扰动观测器，并与自适应反步控制器相结合。在设计过程中，提出了一种简单的观察器结构形式，并使用候选Lyapunov函数分析了观察器的性能。然后，针对时不变和时变扰动分析自适应控制器的闭环稳定性。此外，设计了基于调谐函数的自适应反步控制器，并用于研究所提出的方法可实现的优异性能。最后，提供了使用高保真旋翼机数学模型的比较仿真结果，以展示所提出策略的有效性。