关键词: 四旋翼载重无人机, 自适应非奇异终端滑模, 自抗扰控制, 轨迹跟踪

Abstract: It is difficult to achieve accurate trajectory tracking of quadrotor load UAV under control of conventional sliding mode and PID during flight movement and load changes. A method of dual closed-loop trajectory tracking control of the quadrotor load UAV by combining adaptive nonsingular terminal sliding mode with improved active disturbance rejection control was proposed.By adopting the algorithm of adaptive non-singular terminal sliding mode control for the position control system of the outer loop, the state of the outer loop system can quickly converge to the equilibrium state in a finite time, and the robustness of the system could be better strengthen. A new state function of error feedback designed by adopting the algorithm the improved active-disturbance rejection control in the attitude control system of the inner loop, which is smoother than the original function, thus reducing the buffeting effect of the error feedback control and making the closed-loop system more stable. The simulation results show that the designed control system can realize trajectory tracking control of the quadrotor load UAV faster and better.

Key words: quadrotor load UAV, nonsingular terminal sliding mode, active disturbance rejection control (ADRC), trajectory tracking