Non-linear anti-jamming trajectory tracking control of gun-launched miniature quadrotor UAV

Abstract

In order to solve the flight stability control problem of the gun-launched micro quadrotor UAV during the autonomous flight phase, this paper proposes an adaptive control law design method based on the integral backstepping method. This method is based on modeling the dynamics of the gun-launched micro-quadrotor UAV into a strict feedback form and uses the Lyapunov stability theory to construct a double loop with attitude control as the inner loop and position control as the outer loop. The control structure uses self-adaptive technology to compensate for external disturbances, and at the same time adds an integral link to the position loop and attitude loop to ensure that the UAV has good stability and robustness. The simulation experiment results verify that the adaptive integral backstepping method designed in this paper has good control performance for the trajectory tracking of the gun-launched micro quadrotor UAV and can accurately estimate the interference.