Four rotor unmanned aerial vehicle control method based on fractional order PID and fractional order terminal sliding mode

By employing a dual-closed-loop control strategy, combining fractional-order PID and fractional-order terminal sliding mode control, the attitude and position control of the quadcopter UAV is improved, solving the problem of attitude instability under complex disturbances and achieving rapid response and stable flight.

CN115826394BActive Publication Date: 2026-05-01JIANGSU UNIV OF SCI & TECH
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Patent Information

Application Number
CN202211389676.5
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2022-11-08
Publication Date
2026-05-01
Estimated Expiration
2042-11-08

AI Technical Summary

Technical Problem

When faced with complex external disturbances such as airflow, traditional control algorithms for quadcopter drones struggle to achieve stable attitude control. In particular, the accuracy of linear PID controllers decreases in nonlinear systems, sliding mode control struggles to quickly reach equilibrium after the sliding mode surface, and integer-order differential systems cannot effectively cope with complex disturbances.

Method used

A dual-loop control strategy is adopted. The outer loop uses an improved fractional-order PID controller for position control, while the inner loop uses a fractional-order terminal sliding mode controller to improve the sliding surface. Combining fractional-order calculus and feedforward compensation, a non-singular terminal sliding surface is designed to enhance robustness and fast response capability.

Benefits of technology

It achieves rapid attitude stabilization of quadcopter UAVs under complex airflow interference, simplifies parameter adjustment, improves system performance, enhances anti-interference capability and control effect, and ensures rapid response and stable flight.

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Abstract

The application discloses a kind of based on fractional order PID and fractional order terminal sliding mode quadrotor unmanned aerial vehicle control method, comprising (1) the dynamics model of quadrotor unmanned aerial vehicle is established;(2) construct fractional order PID controller, the desired position of unmanned aerial vehicle and actual position input fractional order PID controller, obtain the control output of unmanned aerial vehicle in X, Y, Z axis direction;(3) according to step (2) control output and current attitude angle are calculated out the desired attitude angle of unmanned aerial vehicle;(4) determine attitude error;(5) construct fractional order terminal sliding surface and obtain the equivalent control law of this fractional order terminal sliding;(6) design fractional order terminal sliding switch control law, combine switch control law and equivalent control law obtain fractional order terminal sliding attitude controller;(7) design Lyapunov function and prove the stability of fractional order terminal sliding attitude controller by Lyapunov theorem.The application guarantees that unmanned aerial vehicle keeps attitude stable when being disturbed by air flow factor.
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