College of Automation Engineering,Nanjing University of Aeronautics and Astronautics
The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan),China Postdoctoral Science Foundation
In this paper, the trajectory tracking control of a quadrotor UAV system with multi-source disturbances is studied. A full loop composite fast nonsingular terminal sliding mode trajectory tracking control scheme is proposed by considering both position and attitude loop dynamics. Firstly, the trajectory tracking problem is transformed into the commands tracking in position and attitude loop. Secondly, the couplings between different channels and the influences of multi-source disturbances are regarded as lumped disturbances and estimated by extended state observers. And then, based on the disturbances"" estimation and the fast nonsingular terminal sliding mode control algorithm, the composite fast nonsingular terminal sliding mode controllers are constructed both in the position loop and the attitude loop. Finally, the real control action of UAV, i.e., rotor speed is calculated based on the virtual controller in position loop and attitude loop. The simulation results show that the proposed control scheme significantly improve the trajectory tracking performance of quadrotor UAV.