Research On Inverse Sliding Mode Trajectory Tracking Control Of Quadrotor UAV

Because of the advantages of strong maneuverability,flying in narrow space and easy to carry,the Quadrotor UAV has become a research hotspot in recent years.Because the Quadrotor UAV is a typical nonlinear,strong coupling,multivariable under drive system,and it is very vulnerable to external interference,so the design of its controller becomes the difficulty and focus of Quadrotor UAV application research.In this paper,the inverse sliding mode dynamic surface controller with disturbance observer is designed,and the fuzzy gain switching strategy is used to improve the chattering of sliding mode,so as to solve the problems of flight stability,robustness and anti-interference ability of the Quadrotor UAV.First of all,based on the analysis of the flight principle,the six degree of freedom aerodynamic model and the motor propeller actuator model of the Quadrotor UAV are established.According to the above model,the control system structure of the Quadrotor UAV is designed,and the control channel is allocated reasonably,according to its under drive characteristics.Firstly,based on the analysis of flight principle,the six degree of freedom aerodynamics model and the Quadrotor UAV motor propeller actuator model of the Quadrotor UAV are established,and the control system structure of the Quadrotor UAV is designed according to the above model,then the control channel is allocated reasonably according to its under drive characteristics.Secondly,an integral inverse sliding mode dynamic surface controller is designed to realize the trajectory tracking control of the Quadrotor UAV.The inverse sliding mode control method is used to ensure the good response and control performance of the controller.The integral term is introduced to eliminate the steady-state error of the system,and the dynamic surface control is used to solve the problem of computational complexity.Finally,a trajectory tracking controller with good control effect is designed.In addition,in order to overcome the external active disturbance and the noise interference generated during its own flight,a non-linear controller is designed the linear disturbance observer compensates it to improve the anti-interference ability of the system.Then,in order to reduce the high frequency sliding mode chattering caused by sliding mode control system,a fuzzy switching gain controller is designed on the basis of integral backstepping sliding mode dynamic surface controller to realize the real-time control of switching gain,which effectively weakens the high-frequency chattering caused by sliding mode control system,Furthermore,the fuzzy switching gain controller is further improved,and the fuzzy sliding mode parameter controller is designed to realize the real-time adjustment of the sliding mode parameter which has a great impact on the system performance and improve the robustness of the system.Finally,the flight experiment based on integral inverse sliding mode dynamic surface controller is carried out based on qball2 flight experiment platform,and compared with the experimental results of PID control algorithm,the results show that the control algorithm proposed in this paper has better response characteristics and tracking accuracy than PID algorithm.In this paper,an effective control strategy is proposed for the application of the Quadrotor UAV trajectory tracking control engineering.