变质心共轴双旋翼无人机建模与反步滑模控制.

A scheme of attitude control based on three-track moving mass-actuated mechanism is proposed for the problem that overcomplicated rotor components and low reliability of the coaxial dual-rotor unmanned aerial vehicle（UAV）. The motion model and the aerodynamic model of the moving mass-actuated ducted coaxial dual-rotor UAV are derived. The dynamic characteristics of moving mass-actuated UAV（MAUAV） with different slider positions and mass ratios are analyzed. The state equation of the attitude control system for MAUAV is established. Aiming at the nonlinearity and uncertainty of the system，the attitude controller based on the backstepping sliding mode control is designed. Simulation results show that the designed controller can effectively complete the attitude tracking task under the condition of external disturbances，and has good anti-interference ability. [ABSTRACT FROM AUTHOR]