Adaptive backstepping control algorithm for a rotorcraft disturbed by different wind

In order to keep the attitude stability of the rotorcraft under external wind disturbance, the mathematical model of the rotorcraft under wind disturbance is established. Integral terms are added into the conventional backstepping method to resist the continuing wind disturbance which has a low amplitude. Adaptive control approach is used to compensate for the model error of rotorcraft and the sudden gust. The disadvantage of the conventional backstepping method in resisting the wind disturbance is improved. The simulation results show that the controllers designed by this method have better disturbance rejection performance and tracking performance.