第二届复杂系统与工程大会 (CSEC2021)

99 / 2021-09-10 15:15:19

Adaptive robust silding mode wind rejection control for quadrotor

Quadrotor UAV,Wind Rejection,Adaptive Robust Sliding Mode (ARSM) controller

At present, quadrotor unmanned aerial vehicle (UAV) is widely used in forest fire prevention, military reconnaissance, or other fields and has achieved a good application effect. But in wind, it is very difficult to maintain the stability of the aircraft flight. Therefore, an adaptive robust sliding mode (ARSM) controller is proposed in this paper, which can effectively improve the flight control accuracy and tremor caused by the wind field environment. Simulation results show that by applying the ARSM controller designed in this paper, the quadrotor can keep the flight attitude and trajectory stability in the wind field environment, and has a better control effect than the traditional controller, proved the validity of the ARSM controller is designed in this paper.