Variable mass quadrotor attitude tracking method and device and medium

Abstract

The invention discloses a variable mass quadrotor attitude tracking method and device and a medium, and the method comprises the following steps: inputting an expected angle and an actual angle of each channel into a fuzzy controller, a nonsingular backstepping terminal sliding mode controller and an exponential convergence interference observer, and obtaining respective outputs; and then, integrating the output of the controller and the observer to obtain a final control law. And finally, the control law is input into the variable mass quadrotor attitude model, and the actual attitude angle of the variable mass quadrotor is obtained through mathematical solution. According to the method, buffeting can be effectively suppressed, interference is compensated, the robustness of a variable mass quadrotor system is enhanced, and the quadrotor attitude tracking quality is improved.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned aerial vehicle motion control, and in particular relates to a variable-mass quad-rotor attitude tracking method, device and medium. Background Art

[0002] In recent years, domestic and foreign scholars have proposed many methods for the attitude tracking problem of quadrotors. Among them, the control method based on backstepping has good adaptability and robustness for nonlinear systems, but there are problems such as complex design and expansion of the number of terms caused by virtual control derivatives. The control method based on non-singular terminal sliding mode is to design the sliding mode function as nonlinear, which can make the system converge to zero in a finite time. Compared with the asymptotic convergence of ordinary sliding processes, the terminal sliding mode has stronger convergence. The control method based on the observer can eliminate the impact on the unmodeled part of the system and compensate for various forms of interference, but it requires a certain amount of experience and time to adjust the parameters.

[0003] At the same time, the existing high-precision control method of the quadrotor attitude does not take into account the factor of variable mass and is not applicable to drones that spray pesticides or fuel-powered drones. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a variable-mass quadrotor attitude tracking method, device and medium, which can effectively suppress vibration and is robust to external interference.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a variable mass quadrotor attitude tracking method based on a non-singular backstepping terminal sliding mode, comprising the following steps:

[0007] Get the expected roll angle of the variable mass quadrotor , the desired pitch angle and the desired yaw angle and the actual angle of the variable mass quadrotor roll angle , the actual pitch angle , the actual angle of the yaw angle .

[0008] The desired angle of the variable mass quadrotor roll angle , the desired pitch angle and the desired yaw angle , the actual angle of the variable mass quadrotor roll angle , the actual angle of pitch angle and the actual angle of the yaw angle The input is sent to the fuzzy controller, the non-singular backstepping terminal sliding mode controller and the exponential convergence disturbance observer to obtain the sliding mode control law based on the equivalent controller and the estimated value of the external disturbance;

[0009] The final control law is obtained by integrating the sliding mode control law based on the equivalent controller and the estimated value of the external disturbance.

[0010] The final control law is input into the variable mass quadrotor attitude model, and the attitude angle of the variable mass quadrotor is obtained through mathematical calculation.

[0011] Furthermore, the method for constructing the variable mass quadrotor attitude model includes:

[0012] The parameters of the variable mass quadrotor UAV are obtained, the variable mass load is mathematically modeled, and the variable mass quadrotor is modeled using the Newton-Euler method to obtain the mathematical model of the attitude of the variable mass quadrotor.

[0013] Furthermore, the parameters of the variable mass quadrotor UAV are obtained, the variable mass load is mathematically modeled, and the variable mass quadrotor is modeled by the Newton-Euler method to obtain the mathematical model of the attitude of the variable mass quadrotor, including:

[0014] The following assumptions are made for variable mass loads:

[0015] (1) The quadrotor drone carries a rectangular container, whose length, width and height are expressed as , , , both are approximately rigid body structures.

[0016] (2) The liquid in the container changes with time uniformly decreases, and its density is The liquid level drops at a speed of And the influence on the center of mass is ignored. Then the change in the moment of inertia of each channel caused by the variable mass load is expressed as:

[0017]

[0018] For a quadrotor with known internal variable mass disturbance and external interference, the Newton-Euler method is used to establish its attitude mathematical model as follows:

[0019]

[0020] in, , , represents the roll angle of the quadrotor and its first-order derivative and second-order derivative, , , represents the pitch angle of the quadrotor and its first-order derivative and second-order derivative, , , represents the yaw angle of the quadrotor and its first-order derivative and second-order derivative, , , is the moment of inertia of each channel, is the distance from the center of the quadrotor to the center of mass, , , is the air resistance moment coefficient of each channel, , , is the control input, , , is the external interference of each channel. Assuming that the external interference derivative has an upper bound, we have .

[0021] The mathematical model of the variable mass quadrotor attitude is organized as follows:

[0022]

[0023] in, , , , .

[0024] Furthermore, the fuzzy controller and the non-singular backstepping terminal sliding mode controller are used to obtain a sliding mode control law based on an equivalent controller;

[0025] The exponentially convergent disturbance observer is used to obtain an estimated value of external disturbance.

[0026] Furthermore, the design method of the fuzzy controller and the non-singular backstepping terminal sliding mode controller includes:

[0027] For the variable mass quadrotor attitude mathematical model, define the tracking error vector [ z 1 , z 3 , z 5 ] and virtual control vector [ x 2 d , x 4 d , x 6 d ] as follows:

[0028]

[0029]

[0030] in, , , is the sliding mode function to be designed, , , is a normal number, , , They are the expected angles of roll angle, pitch angle and yaw angle, which are given manually and have a range of [ 0 , π ] ,

[0031] The non-singular backstepping terminal sliding mode function is designed as follows:

[0032]

[0033] in, , , is a positive constant, ,and , is a positive odd number ( ).

[0034] The sliding mode control law based on the equivalent controller is designed as follows:

[0035]

[0036] The non-singular backstepping terminal sliding mode controller includes an equivalent controller and a switching controller;

[0037] Among them, the equivalent controller input is the actual angle and expected angle of each channel, and the output is the sliding mode control law mentioned above. , , The design of this part is as follows:

[0038]

[0039] Switch the controller input to the designed sliding membrane function , , , the output is the above sliding mode control law , , The design of this part is as follows:

[0040]

[0041] in, is a positive number and satisfies .

[0042] is the output of the fuzzy controller, and the input of the fuzzy controller is the designed sliding mode function , the fuzzy rules are designed as follows:

[0043]

[0044] Among them, the fuzzy set , , , , , , They represent positive large, positive middle, positive small, zero, negative small, negative middle, and negative large respectively. The fuzzy controller completes fuzzy reasoning based on the input and fuzzy rule table to solve and obtain the output of the fuzzy controller .

[0045] In order to reduce the adjustment coefficient of the fuzzy function boundary value, the value range is [0,1].

[0046] Furthermore, the design method of the exponential convergence disturbance observer includes:

[0047] definition Define the auxiliary state of the construction for the estimated value of the external disturbance ,in, .

[0048] The input of the interference observer is the actual angle of each channel, and the output is the estimated value of the external interference. It is designed as follows:

[0049]

[0050] in, Is a normal number.

[0051] Furthermore, the method of integrating the sliding mode control law based on the equivalent controller and the estimated value of the external disturbance to obtain the final control law includes:

[0052] The integration is done by:

[0053]

[0054] Among them, U represents the final control law; represents the sliding mode control law based on the equivalent controller, Represents an estimate of the external disturbance.

[0055] Furthermore, the final control law is input into the variable mass quadrotor attitude model, and the attitude angle of the variable mass quadrotor is obtained through mathematical calculation, including:

[0056] Substitute the final control law into the variable mass quadrotor attitude mathematical model and perform double integration to obtain the actual angle of the variable mass quadrotor roll angle, the actual angle of the pitch angle, and the actual angle of the yaw angle after a certain period of time in the future.

[0057] The input actual angle mentioned above can be the actual angle corresponding to the time calculated, or can be measured by a sensor.

[0058] In a second aspect, the present invention provides a variable-mass quadrotor attitude tracking device based on a non-singular backstepping terminal sliding mode, characterized in that it includes a processor and a storage medium;

[0059] The storage medium is used to store instructions;

[0060] The processor is used to operate according to the instructions to execute the steps of the method according to the first aspect.

[0061] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the method described in the first aspect.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] 1. The present invention discloses a variable-mass quadrotor attitude tracking method based on a non-singular backstepping terminal sliding mode. The designed attitude controller based on the non-singular backstepping terminal sliding mode introduces equivalent control and fuzzy control, so that the variable-mass quadrotor attitude system has stronger robustness and anti-jitter capability. This method can effectively suppress jitter, compensate for interference, enhance the robustness of the variable-mass quadrotor system, and improve the quadrotor attitude tracking quality.

[0064] 2. The present invention discloses a variable mass quadrotor attitude tracking method based on a non-singular backstepping terminal sliding mode. An exponentially convergent disturbance observer is used to estimate the external disturbance of the variable mass quadrotor and integrate it with a non-singular backstepping terminal sliding mode controller and a fuzzy controller to form a final control law. The method can accurately estimate the external disturbance and improve the attitude tracking performance of the variable mass quadrotor.

[0065] 3. The present invention models a variable mass quadrotor under external interference, designs a non-singular backstepping terminal sliding mode controller to achieve high-quality tracking, combines fuzzy control technology to suppress chattering, and designs an exponential convergence disturbance observer to address the external interference problem. The final controller formed by the integration of the two can effectively suppress chattering, has strong anti-interference ability, and has higher precision tracking performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a control flow chart of the quad-rotor drone of the present invention.

[0067] Figure 2 To change the quality of the drone Channel tracking curve diagram,

[0068] Figure 3 To change the quality of the drone Channel tracking curve diagram,

[0069] Figure 4 To change the quality of the drone Channel tracking curve diagram,

[0070] Figure 5 NBTSM+DO, ABS and CFO+BLF variable mass quadrotor Schematic diagram of channel tracking error curve,

[0071] Figure 6 NBTSM+DO, ABS and CFO+BLF variable mass quadrotor Schematic diagram of channel tracking error curve,

[0072] Figure 7 NBTSM+DO, ABS and CFO+BLF variable mass quadrotor Schematic diagram of channel tracking error curve,

[0073] Figure 8 For control input Schematic diagram,

[0074] Fig. 9 For control input Schematic diagram,

[0075] Fig.10 For control input Schematic diagram. DETAILED DESCRIPTION

[0076] The method of the invention starts from the actual application scenarios of quadrotors. Taking into account that the total mass of the quadrotor will change continuously over time when performing tasks such as pesticide spraying or material delivery, and that most quadrotors work outdoors and need to overcome the interference brought by the outdoors, a variable-mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode is designed.

[0077] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0078] Embodiment 1:

[0079] This embodiment discloses a variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode, and the specific steps are as follows:

[0080] Step 1, obtain the parameters of the variable mass quadrotor UAV, perform mathematical modeling on the variable mass load, and perform Newton-Euler method modeling on the variable mass quadrotor to obtain the mathematical model of the attitude of the variable mass quadrotor.

[0081] The following assumptions are made for variable mass loads: (1) The quadrotor drone carries a rectangular container, whose length, width and height are expressed as , , , the two are approximately regarded as rigid structures. (2) The liquid in the container changes with time uniformly decreases, and its density is The liquid level drops at a speed of And the influence on the center of mass is negligible. Then the change in the moment of inertia of each channel caused by the variable mass load can be expressed as:

[0082]

[0083] For a quadrotor with known internal variable mass disturbance and external interference, the Newton-Euler method is used to establish its attitude mathematical model as follows:

[0084]

[0085] in, , , Indicates the actual roll angle, pitch angle, and yaw angle of the quadrotor. , , is the moment of inertia of each channel, is the distance from the center of the quadrotor to the center of mass, , , is the air resistance moment coefficient of each channel, , , is the control input, , , is the external interference of each channel. Assuming that the external interference derivative has an upper bound, we have .

[0086] For the convenience of representation, the mathematical model of the variable mass quadrotor attitude is organized as follows:

[0087]

[0088] in, , , , .

[0089] Step 2: Based on the mathematical model of the attitude of the variable-mass quadrotor, a non-singular backstepping terminal sliding mode attitude controller is designed, and the fuzzy control method is used to reduce the error caused by the model to obtain a sliding mode control law based on an equivalent controller.

[0090] For the variable mass quadrotor attitude mathematical model, define the tracking error vector and virtual control vector as follows:

[0091]

[0092]

[0093] in, , , is the sliding mode function to be designed, , , is a positive constant, , , They are the expected angles of roll angle, pitch angle and yaw angle, which are given manually and have a range of .

[0094] , The values ​​are as follows:

[0095]

[0096] The non-singular backstepping terminal sliding mode vector is designed as follows:

[0097]

[0098] in, , , is a positive constant, ,and , is a positive odd number ( ).

[0099] The sliding mode control law based on the equivalent controller is designed as follows:

[0100]

[0101] Among them, the equivalent controller is designed as follows:

[0102]

[0103] The switching controller is designed as follows:

[0104]

[0105] in, is a positive number and satisfies .

[0106] is the output of the fuzzy controller, and the fuzzy rules are designed as follows:

[0107]

[0108] Among them, the fuzzy set , , , , , , They respectively represent positive large, positive middle, positive small, zero, negative large, negative middle, and negative small.

[0109] In order to reduce the adjustment coefficient of the fuzzy function boundary value, the value range is [0,1].

[0110] Step 3: Based on the mathematical model of the attitude of the variable mass quadrotor, an exponentially convergent disturbance observer is designed to obtain an estimated value of the external disturbance.

[0111] definition Define the auxiliary state of the construction for the estimated value of the external disturbance ,in, The disturbance observer is designed as follows:

[0112]

[0113] in, Is a normal number.

[0114] In step 4, the final control law is obtained according to the control law obtained in step 2 and the interference estimation value obtained in step 3. Mathematical calculations are performed in combination with the attitude mathematical model to compensate for external interference, suppress vibration, and achieve higher variable mass quadrotor attitude tracking quality.

[0115] The final control law is obtained as:

[0116]

[0117] Specific control process such as Figure 1 As shown, the initial input is the desired roll angle of the variable mass quadrotor , the desired pitch angle and the desired yaw angle First, the desired angle of each channel and actual angle , , The input is sent to the fuzzy controller, non-singular backstepping terminal sliding mode controller and exponential convergence disturbance observer to obtain their respective outputs. Then, the outputs of the controller and observer are integrated to obtain the final control law. Finally, the control law is input into the variable mass quadrotor attitude model, and the real-time attitude angle of the variable mass quadrotor is obtained through mathematical solution.

[0118] The actual angle input may be the actual angle corresponding to the time calculated, or may be measured by a sensor.

[0119] In order to demonstrate the superiority of the present invention, simulation experiments were carried out using Matlab / Simulink, and compared with the adaptive backstepping (ABS) method and the barrier Lyapunov function control based on the compensation function observer (CFO + BLF).

[0120] Set the desired yaw angle of the variable mass quadrotor attitude system The changes in the moment of inertia of each channel caused by the variable mass load are , , , external interference .

[0121] The variable mass quadrotor parameters and controller and observer parameters in the present invention are shown in Table 4 and Table 5:

[0122] Table 4 Variable mass quadrotor parameters

[0123]

[0124] Table 5 Controller and observer parameters

[0125] The control algorithm designed in the present invention is compared with the adaptive backstepping method (ABS) and the barrier Lyapunov function control based on the compensation function observer (CFO + BLF). Figures 2 to 4 This is a schematic diagram of the posture tracking curve of the control algorithm of the present invention. It can be seen that the tracking curve basically coincides with the desired posture, indicating that the algorithm can accurately complete the posture tracking task. Figures 5 to 7 This is a schematic diagram of attitude tracking error comparison. Through comparison, it can be found that this algorithm has higher control accuracy than the ABS algorithm, and has the advantages of shorter rise time and better steady-state performance than the same type of algorithm CFO+BLF. Figures 8 to 10 This is a schematic diagram of control input. It can be seen that the fuzzy control can effectively suppress the chattering problem.

[0126] Embodiment 2:

[0127] This embodiment provides a variable mass quadrotor attitude tracking device based on non-singular backstepping terminal sliding mode, characterized in that it includes a processor and a storage medium;

[0128] The storage medium is used to store instructions;

[0129] The processor is used to operate according to the instructions to execute the steps of the method according to the first embodiment.

[0130] Embodiment three:

[0131] This embodiment provides a computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the steps of the method described in the first embodiment are implemented.

[0132] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0133] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0134] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0135] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0136] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode, characterized in that: The following steps are involved: Obtaining the expected roll angle, the expected pitch angle, and the expected yaw angle of the variable mass quadrotor and the actual roll angle, the actual pitch angle, and the actual yaw angle of the variable mass quadrotor; The desired roll angle, pitch angle and yaw angle of the variable mass quadrotor and the actual roll angle, pitch angle and yaw angle of the variable mass quadrotor are input into a fuzzy controller, a non-singular backstepping terminal sliding mode controller and an exponential convergence disturbance observer to obtain a sliding mode control law based on an equivalent controller and an estimated value of an external disturbance; The final control law is obtained by integrating the sliding mode control law based on the equivalent controller and the estimated value of the external disturbance; The final control law is input into the variable mass quadrotor attitude model, and the attitude angle of the variable mass quadrotor is obtained through mathematical calculation.

2. The variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode according to claim 1 is characterized in that: The method for constructing the variable mass quadrotor attitude model comprises: The parameters of the variable mass quadrotor UAV are obtained, the variable mass load is mathematically modeled, and the variable mass quadrotor is modeled using the Newton-Euler method to obtain the mathematical model of the attitude of the variable mass quadrotor.

3. The variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode according to claim 2 is characterized in that: Obtain the parameters of the variable mass quadrotor UAV, perform mathematical modeling on the variable mass load, and perform Newton-Euler method modeling on the variable mass quadrotor to obtain the mathematical model of the attitude of the variable mass quadrotor, including: The following assumptions are made for variable mass loads: (1) The quadrotor drone carries a rectangular container, whose length, width and height are expressed as , , , both are approximately rigid structures; (2) The liquid in the container changes with time uniformly decreases, and its density is The liquid level drops at a speed of And the influence on the center of mass is ignored; the change in the moment of inertia of each channel caused by the variable mass load is expressed as: ， For a quadrotor with known internal variable mass disturbance and external interference, the Newton-Euler method is used to establish its attitude mathematical model as follows: ， in, , , represents the roll angle of the quadrotor and its first-order derivative and second-order derivative, , , represents the pitch angle of the quadrotor and its first-order derivative and second-order derivative, , , represents the yaw angle of the quadrotor and its first-order derivative and second-order derivative, , , is the moment of inertia of each channel, is the distance from the center of the quadrotor to the center of mass, , , is the air resistance moment coefficient of each channel, , , is the control input, , , is the external interference of each channel. Assuming that the external interference derivative has an upper bound, we have ; The mathematical model of the variable mass quadrotor attitude is organized as follows: ， in, , , , .

4. The variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode according to claim 3 is characterized in that: The fuzzy controller and the non-singular backstepping terminal sliding mode controller are used to obtain a sliding mode control law based on an equivalent controller; The exponentially convergent disturbance observer is used to obtain an estimated value of external disturbance.

5. The variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode according to claim 4 is characterized in that: The design method of the fuzzy controller and the non-singular backstepping terminal sliding mode controller comprises: For the variable mass quadrotor attitude mathematical model, define the tracking error vector and virtual control vector as follows: ， ， in, , , is the sliding mode function to be designed, , , is a normal number, , , They are the expected angles of roll angle, pitch angle and yaw angle, which are given manually and have a range of , The non-singular backstepping terminal sliding mode function is designed as follows: ， in, , , is a normal number, ,and , is a positive odd number ( ); The sliding mode control law based on the equivalent controller is designed as follows: ， The non-singular backstepping terminal sliding mode controller includes an equivalent controller and a switching controller; Among them, the equivalent controller input is the actual angle and expected angle of each channel, and the output is the sliding mode control law mentioned above. , , The design of this part is as follows: ， Switch the controller input to the designed sliding membrane function , , , the output is the above sliding mode control law , , The design of this part is as follows: ； in, is a positive number and satisfies ; is the output of the fuzzy controller, and the input of the fuzzy controller is the designed sliding mode function , the fuzzy rules are designed as follows: ； Among them, the fuzzy set , , , , , , They represent positive large, positive middle, positive small, zero, negative small, negative middle, and negative large respectively; the fuzzy controller completes fuzzy reasoning based on the input and fuzzy rule table to solve and obtain the output of the fuzzy controller ; In order to reduce the adjustment coefficient of the fuzzy function boundary value, the value range is [0,1].

6. The variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode according to claim 5 is characterized in that: The design method of the exponential convergence disturbance observer includes: definition Define the auxiliary state of the construction for the estimated value of the external disturbance ,in, ; The input of the interference observer is the actual angle of each channel, and the output is the estimated value of the external interference. It is designed as follows: ； in, Is a normal number.

7. The variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode according to claim 6 is characterized in that: Methods for integrating the sliding mode control law based on the equivalent controller and the estimated value of the external disturbance to obtain the final control law include: The integration is done by: ； Among them, U represents the final control law; represents the sliding mode control law based on the equivalent controller, Represents an estimate of the external disturbance.

8. The variable mass quadrotor attitude tracking method based on non-singular backstepping terminal sliding mode according to claim 7 is characterized in that: The final control law is input into the variable mass quadrotor attitude model, and the attitude angle of the variable mass quadrotor is obtained through mathematical calculation, including: Substitute the final control law into the variable mass quadrotor attitude mathematical model and perform double integration to obtain the actual angle of the variable mass quadrotor roll angle, the actual angle of the pitch angle, and the actual angle of the yaw angle after a certain period of time in the future.

9. A variable-mass quadrotor attitude tracking device based on non-singular backstepping terminal sliding mode, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 8 are implemented.

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