Research on Trajectory Tracking Control of Inspection UAV Based on Real-Time Sensor Data

Abstract

In power inspection, uncertainties, such as wind gusts in the working environment, affect the trajectory of the inspection UAV (unmanned aerial vehicle), and a sliding mode adaptive robust the process of adjusting parameters is complicated, while on the other hand, the robustness is poor, and it is difficult to achieve high-precision trajectory tracking. Literature [10] control algorithm is proposed in this paper to solve this problem. For the nonlinear and under-driven characteristics of the inspection UAV system, a double closed-loop control system which includes proposed the use of back-stepping control to design the trajectory tracking controller, establishing the position and attitude error dynamic model of the UAV, using the backstepa position loop and attitude loop is designed. Lyapunov stability analysis is used to determine whether the designed system could finally achieve asymptotic stability. Sliding-mode PID control ping method to design the stabilization control items, and using Lyapunov theory to and a backstepping control algorithm are applied to analyze the superiority of the control algorithm prove the closed-loop system stability, the final trajectory tracking experiment proved the proposed in this paper. A PX4 based experimental platform system is built and experimental tests effectiveness of the control algorithm. Although the system is stable, after disturbance is were carried out under outdoor environment. The effectiveness and superiority of the control added, the tracking effect becomes worse, and the anti-interference ability of the system algorithm are proposed in this paper. The experimental results show that the sliding mode PID is not strong. In [11], the extended state observer of the switching function is used to estimate the disturbance in trajectory tracking, and the calculated estimated value is comcontrol can achieve good accuracy with smaller computing costs. For nonlinear interference, the sliding mode adaptive robust control strategy can achieve higher trajectory tracking accuracy. bined with sliding mode control to finally achieve the trajectory tracking effect. However,.