Research on Anti-Jamming Trajectory Tracking Control of Quadcopter
There has been great interests in quadcopter due to its application in special circumstances.At the same time,owing to its characteristics of nonlinearity,strong coupling and under-actuation,it is very important to guarantee the rapid adjustment of attitude and trajectory to realize stable flight when quadcopter encounters sudden environmental change like gusts and collision.In this paper,the wind field in the mid-to-low altitude range of quad-rotor flight is studied,and wind disturbance factors are modeled and introduced into the quad-rotor system model.The quad-rotor aircraft adopts an internal and external double closed-loop control architecture,and a brand-new position sliding mode controller and an attitude double closed-loop sliding mode con-troller are respectively designed in the position outer ring and the attitude inner ring frame.Traditional approximation method is replaced by the proposed exponential approximation methodology with the robust item in the design of sliding mode controller for position control to realize accurate tracking control.The item of integral of error is introduced in the controller design for attitude control to improve the robustness and to decrease the attitude error.Compared with the simulation results based on traditional slid-ing mode control theory,the proposed controller in this paper has quicker response,runs more stable and has more accurate track-ing and greater robustness.
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维普
