Quadrotor UAV Trajectory Tracking Control Based On Output Regulation And Sliding Mode Control

As a kind of rotor-type micro-aircraft integrating nonlinear,under-actuated,strongcoupling and multi-variable characteristics,the quadrotor UAV has simple mechanical structure,small size and flexibility,and has important military and civilian value.The quadrotor UAV is susceptible to parameter uncertainties and external disturbances during flight,and the requirements for flight control quality are getting higher,the research on flight control has important theoretical significance and practical value.To solve the trajectory stable tracking control and disturbance rejection of quadrotor UAV,the main work of this paper is described as follow:(1)The airframe structure and flight principle of the quadrotor UAV are analyzed.By analyzing the force and moment of the quadrotor UAV,the nonlinear dynamics model of the system is established by using the Newton-Euler equation.(2)Aiming at the problem of trajectory stable tracking control and susceptibility to disturbance of quadrotor UAV,an Output Regulation/Integral Sliding Mode Control System is designed.The position output regulator is designed based on the dynamic surface internal model method,which can achieve asymptotic tracking of trajectory and asymptotic rejection of disturbance,the dynamic surface control is introduced to eliminate virtual control derivative terms and simplify controller design.The attitude controller is designed by using integral sliding mode algorithm,and the high frequency chattering is weakened by boundary layer and approach law.And the designed control system is compared with the double loop PID controller and double loop sliding mode controller,the trajectory tracking control performance and disturbance rejection capability are effectively verified by simulation.The designed attitude controller is tested on the Hummingbird Drone experimental platform to verify its attitude tracking stability and anti-disturbance.(3)In order to greatly weaken or even eliminate the chattering in sliding mode control,eliminate the relative order limitation of the system,and realize the finite time stability control of the quadrotor UAV,a new attitude controller based on high-order sliding mode algorithm is proposed.The simulation and Hummingbird Drone experimental results show that the high-order sliding mode attitude controller can suppress the chattering phenomenon to a large extent,improve the control precision,and can realize the decoupling between the attitude angles,and has good attitude tracking effect and disturbance rejection capability.(4)In order to achieve stable tracking control of the position and attitude trajectory of the quadrotor UAV,the high-order sliding mode attitude controller is combined with the position output regulator to form an Output Regulation/High-order Sliding Mode Control System to realize tracking control of the trajectory.Compared with Output Regulation/Integral Sliding Mode Control System,the simulation results show that the designed control system has better performance in both trajectory tracking control and disturbance rejection.