四旋翼无人机固有的欠驱动和强耦合特性使得其轨迹跟踪控制器设计成为难点。针对模型不确定和外界干扰的情况, 基于内外环控制结构的思想设计变负载四旋翼无人机的轨迹跟踪控制器。设计了一种自适应滑模控制器, 在外环中完成轨迹跟踪并生成期望的升力和姿态角;采用自抗扰控制技术设计内环控制器用于跟随期望的姿态角。在外界干扰下的轨迹跟踪仿真结果表明所设计的控制器具有良好的有效性和鲁棒性。

The design of trajectory tracking controller for a quad-rotor Unmanned Aerial Vehicles (UAV) is difficult due to the UAV's inherent characteristics of under-actuation and strong coupling. Considering the model uncertainties and external disturbances, we designed a trajectory tracking controller for the quad-rotor UAVs with timing-varying mass and wind disturbance based on the idea of the control structure of the inner-outer loop. An adaptive sliding-mode controller was designed, which implemented the trajectory tracking in the outer loop and generated the expected lift force and attitude angle. The active disturbance-rejection control technique was adopted to design the inner-loop controller, which was used to follow the expected attitude angle. The simulation results of trajectory tracking in the presence of external disturbances prove the effectiveness and robustness of the designed controller.