Adaptive Trajectory Tracking Control Of Quadrotor Aircraf

With the advantages of simple structure,low cost and high flexibility,the quadrotor unmanned aerial vehicle(UAV)has been widely used in military,civil and commercial fields.However,the quadrotor UAV is susceptible to external disturbance and actuator saturation in the actual flight process.In addition,in order to obtain better transient performance,it is necessary to constrain the output error within a certain range.In view of the above problems,this thesis studies the trajectory tracking problem of the quadrotor UAV with external disturbance,output error constraint and input saturation.The main contents are as follows:An adaptive integral sliding mode controller is designed for the trajectory tracking problem of the quadrotor UAV with external disturbance.Firstly,the quadrotor UAV system is designed as inner loop and outer loop,with the inner loop as the attitude subsystem and the outer loop as the position subsystem.Secondly,in order to eliminate the steady-state error,an integral link is added to the traditional sliding mode surface.The integral sliding mode controller is designed for the attitude subsystem and the position subsystem.Thirdly,an adaptive law is designed to estimate the external disturbance of the quadrotor UAV.Then the adaptive integral sliding mode controller is designed by combining the adaptive law with the integral sliding mode controller.Finally,the effectiveness of the control scheme is verified by stability analysis and MATLAB simulation.For the trajectory tracking problem of the quadrotor UAV with output error constraint and external disturbance,an adaptive backstepping controller based on the barrier Lyapunov function is proposed.Firstly,in order to obtain better transient performance,the barrier Lyapunov function is introduced to constrain the output error within the preset bound.Secondly,the adaptive backstepping controller is designed by combining the backstepping method and the adaptive algorithm to ensure that the quadrotor can track the desired trajectory and has good anti-disturbance ability.Finally,the effectiveness of the control scheme is verified by stability analysis and MATLAB simulation.In order to solve the problem of trajectory tracking of the quadrotor UAV with input saturation and external disturbance,an adaptive integral sliding mode controller is designed by introducing an auxiliary system.Firstly,an auxiliary system is introduced to solve the input saturation problem.Secondly,an adaptive law is designed to estimate the external disturbance.By combining the adaptive law with the integral sliding mode controller,an adaptive integral sliding mode controller is designed to enable the quadrotor UAV to track the desired trajectory.Finally,the stability analysis and simulation results show the effectiveness of the proposed control scheme.