Research On Fractional Tracking Controler Of Quadrotor Unmanned Aerial Vehicle Based On Improved Super-twisting Observer

In recent years,quadrotor unmanned aerial vehicles have developed rapidly with their unique advantages.Its applications include military reconnaissance,search and rescue,long-range strikes,power inspections,agricultural monitoring,disaster prevention,geological surveys,logistics and transportation,film and television,etc.It has become one of the most representative high-tech products in the contemporary era across multiple fields of military,industry,and commerce.However,the strong coupling characteristics of the aircraft itself make the control research more difficult.This article is based on the sub-project of the National Key Program "Research and Development of Special Rotor UAV for Intelligent Geophysical Exploration".This paper designs a quadrotor tracking control system based on a fractional-order backstepping sliding mode controller and an improved super-twisting interference observer,aiming to improve the control performance of a quadrotor UAV.The main research content of this paper:(1)In this paper,a complete structural analysis and system design of the fourrotor aircraft system are carried out.This paper discusses the structure and working principle of the quadrotor unmanned aerial vehicle in detail,and establishes the force model of the quad-rotor drone.(2)This paper derives the control rate of the quadrotor based on the fractional sliding mode backstepping algorithm.Then,the first and second derivatives of the expected angle output by the position loop of the quadrotor are calculated by a filter that converges in a finite time.This paper is based on the theory of fractional calculus,through an improved Oustaloup filter to simulate its calculus operator,and build a simulation model.Finally,this paper compares the algorithm with the filtering backstepping method and the integer-order algorithm through matlab simulation of the algorithm,and verifies the effectiveness of the proposed algorithm.(3)This paper designs an improved super-twisting control algorithm based on the second-order sliding mode algorithm.This paper uses it as an observer and applies it to the estimation of unknown disturbances for quadrotors.This paper compares with the traditional second-order sliding mode observer through Matlab simulation,and verifies the effectiveness of the designed observer.(4)In this paper,by building a hardware test platform for a quad-rotor aircraft,the necessary parameters required by the platform have been measured and calculated,and completed the software installation and hardware connection.In this paper,the quadrotor is tested indoors and outdoors under the premise of ensuring safety,and this paper proves the practicability and accuracy of the algorithm designed in this paper.