目标跟踪四旋翼无人机的姿态控制算法研究

Research on Attitude Control Algorithm of Target Tracking Four-rotor UAV

近年来,四旋翼无人机的姿态控制成为无人机控制领域的研究热点。四旋翼无人机在执行任务时需要克服自身震动、风速、悬臂本身质量不均等干扰,因此目标跟踪四旋翼无人机需要具备更强的鲁棒性和精确性的姿态控制算法。笔者提出了结合混合滤波算法的滑膜反步姿态控制算法,仿真结果表明该算法具有较好的抗干扰性,对四旋翼在完成跟踪任务时具有较理想的控制效果。

In recent years,the attitude control of four rotor UAV has become a research hotspot in the field of UAV control.The four rotor UAV needs to overcome the interference of its own vibration,wind speed,and uneven cantilever mass when it performs tasks,so the target tracking four rotor UAV needs a more robust and accurate attitude control algorithm.The simulation results show that the algorithm has good anti-jamming performance and ideal control effect for the four rotors in the tracking task.