Trajectory Tracking Control of Quadcopter UAV Based on Disturbance Observer
To tackle the issue of susceptibility to multiple external disturbances in the trajectory tracking control pro-cess of quadrotor unmanned aerial vehicles(UAVs),in order to further enhance its control accuracy and disturbance rejection capability,this paper adopts a dual power-rate sliding mode control strategy based on an exponential conver-gence disturbance observer.Firstly,a mathematical model of the quadrotor UAV was established based on the New-ton-Euler method,and the quadrotor UAV control system was divided into a dual-loop control structure of the outer ring position loop and the inner ring attitude loop.Secondly,the sliding mode control scheme was adopted for the position subsystem and attitude subsystem,respectively,and the sliding mode controller based on double-power ap-proach rate was designed for the attitude ring.Finally,an exponentially convergent interference observer was designed to observe and compensate for the multi-source external interference of quadrotor UAV in real time.Compared with the PD control scheme based on the inner and outer loop control structure,simulation experiments verify that the proposed control strategy has better dynamic response performance and higher control accuracy,and the anti-interfer-ence ability is greatly enhanced.
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