基于混合滤波的无人机抗干扰轨迹跟踪控制

Anti-jamming Trajectory Tracking Control of UAV Based on Hybrid Filtering

提出基于混合滤波的无人机抗干扰轨迹跟踪控制方法。构建无人机轨迹跟踪模型,结合采用混合滤波算法消除强耦合性、非线性和外界环境等带来的干扰,提高轨迹跟踪精度。通过串联终端滑模控制器实现无人机的位置控制与姿态控制,实现无人机抗干扰轨迹跟踪控制的目标。实验结果表明,所提方法的无人机抗干扰轨迹跟踪误差小、轨迹控制效果好及抗干扰能力强。

A hybrid filter based UAV anti-jamming trajectory tracking control method is proposed.The UAV trajectory tracking model is constructed,and the hybrid filtering algorithm is used to eliminate the interference caused by strong coupling,nonlinearity and external environment,so as to improve the trajectory tracking accuracy.The position control and posture control of UAV are realized by the serial terminal sliding mode controller,and the goal of anti-jamming trajectory tracking control of UAV is achieved.The experimental results show that the proposed method has small anti-jamming trajectory tracking error,good trajectory control effect and strong anti-jamming ability.