An unmanned aerial vehicle trajectory tracking control method based on event-triggered sliding mode control

Abstract

The application claims a kind of unmanned aerial vehicle trajectory tracking control method based on event-triggered sliding mode control, belongs to unmanned aerial vehicle control technical field.First, for quadrotor unmanned aerial vehicle, an improved second-order control model is established;Second, a sliding mode control method based on fixed threshold event-triggered mechanism and improved exponential reaching law is used to design the trajectory tracking controller of quadrotor unmanned aerial vehicle, the stability of the system is proved by Lyapunov stability theorem, and it is ensured that the event-triggered interval has a lower bound greater than 0, which excludes the Zeno behavior of the system;Finally, based on the indoor optical positioning system unmanned aerial vehicle control experiment platform, the Simulink control module of indoor small unmanned aerial vehicle is established, and the trajectory tracking control of indoor small unmanned aerial vehicle is realized.The application can realize accurate tracking of the flight trajectory of indoor small quadrotor unmanned aerial vehicle, and reduce the communication frequency of quadrotor unmanned aerial vehicle, save resources.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned aerial vehicle control, and mainly relates to a four-rotor unmanned aerial vehicle trajectory tracking control method based on event-triggered sliding mode control. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicle technology, four-rotor unmanned aerial vehicles have been widely used in industrial, agricultural, security and other fields due to their flexibility and high maneuverability. However, high-precision trajectory tracking control of unmanned aerial vehicles in complex environments still faces many challenges, such as environmental interference, model uncertainty and high computational requirements of real-time control. Sliding mode control, with its robustness and strong suppression ability to system uncertainty and disturbance, has become a research hotspot for trajectory tracking control of unmanned aerial vehicles. Sliding mode control is a nonlinear control method known for its strong robustness to system model uncertainty and external disturbance. In the trajectory tracking control of four-rotor unmanned aerial vehicles, sliding mode control gradually guides the system state to the equilibrium point by designing a sliding surface. Compared with traditional linear controllers, sliding mode control can adapt to the nonlinear characteristics of unmanned aerial vehicle dynamics and complex environmental disturbances. However, traditional sliding mode control may face chattering problems in practical applications, and needs to be improved to enhance the stability and control accuracy of the system.

[0003] Traditional sliding mode control methods usually rely on fixed periodic triggering, resulting in waste of computing resources or insufficient real-time performance. Event-triggered control effectively reduces the control update frequency through a triggering mechanism based on system state, improving resource utilization efficiency. Event-triggered control is a more efficient real-time control strategy compared to fixed periodic control, and its basic principle is to update the control signal only when the system state meets certain triggering conditions. This mechanism significantly reduces the computational load and communication resource consumption of the control system, while still maintaining high control performance. In four-rotor unmanned aerial vehicles, event-triggered control dynamically adjusts the control update frequency by real-time detection of state error, thereby reducing the chattering phenomenon in sliding mode control and improving the energy efficiency and real-time performance of the system.

[0004] Indoor optical positioning system is a technology that uses optical sensors to obtain high-precision position and velocity information, and is widely used in indoor unmanned aerial vehicle navigation and trajectory tracking scenarios. Through infrared reflective marker points and optical positioning cameras, the system can capture real-time three-dimensional position and velocity data of the unmanned aerial vehicle, providing high-precision state feedback for control algorithms.

[0005] Combined with high-precision indoor optical positioning systems, real indoor small unmanned aerial vehicle flight experiments can be designed to verify the proposed four-rotor unmanned aerial vehicle event-triggered sliding mode control trajectory tracking algorithm.

[0006] After searching, the application publication number is CN113867374B, a four-rotor unmanned aerial vehicle parameter prediction and disturbance adaptive trajectory tracking controller based on a sliding mode control and a design method thereof, based on the nonlinear mechanics model of the four-rotor unmanned aerial vehicle, according to the attitude angle target and flight position target of the four-rotor unmanned aerial vehicle trajectory tracking, the sliding mode variable structure control method is used to obtain the attitude control input function of the system, at the same time, the system is predicted, and the actual value is replaced with the predicted value to give adaptive control compensation in advance; the sliding mode variable structure control method is used to obtain the position control input function of the system, at the same time, the system is predicted, and the actual value is replaced with the predicted value to give adaptive control compensation in advance; according to the expected yaw angle and the virtual control input, the expected values of the roll angle and the pitch angle of the four-rotor unmanned aerial vehicle are inversely solved as the reference input of the inner loop.

[0007] Unlike this patent, first, the application relies on the indoor optical positioning system and the flight control board of the unmanned aerial vehicle, regards the unmanned aerial vehicle as a particle model and establishes an improved second-order control model, and the controller directly generates a speed control instruction acting on the unmanned aerial vehicle without considering the bottom layer dynamics of the unmanned aerial vehicle; at the same time, unlike the continuous triggering used in this patent, the application introduces an event-triggered mechanism combined with sliding mode control, which significantly reduces the computational load and communication resource consumption of the control system, while still maintaining high control performance. SUMMARY

[0008] The application aims to solve the problems of the above prior art. A trajectory tracking control method for an unmanned aerial vehicle based on event-triggered sliding mode control is proposed. The technical scheme of the application is as follows:

[0009] A trajectory tracking control method for an unmanned aerial vehicle based on event-triggered sliding mode control, comprising the following steps:

[0010] Step 1: regarding the four-rotor unmanned aerial vehicle as a particle model, introducing the maneuvering constant of the unmanned aerial vehicle, simulating the speed instruction tracking delay, and establishing an improved second-order control model;

[0011] Step 2: using the event-triggered mechanism and the improved exponential reaching law sliding mode control method, using the hyperbolic tangent switching function instead of the sign function, designing the trajectory tracking controller of the four-rotor unmanned aerial vehicle, using the Lyapunov stability theorem to prove the stability of the system, and ensuring that the event-triggered interval has a lower bound greater than 0, excluding the Zeno behavior of the system;

[0012] Step 3: based on the indoor optical positioning system experimental platform, establishing the Simulink control module of the indoor small unmanned aerial vehicle, realizing the trajectory tracking control of the indoor small unmanned aerial vehicle.

[0013] Further, the step 1 of establishing the improved second-order control model of the four-rotor unmanned aerial vehicle specifically includes:

[0014] Based on the autopilot system of the unmanned aerial vehicle, the quadrotor unmanned aerial vehicle is regarded as a point model, and an improved second-order control model of the quadrotor unmanned aerial vehicle is established as follows:

[0015]

[0016] wherein p = [p x ,p y ,p z ] T is the position of the unmanned aerial vehicle in three-dimensional space, represents the derivative of the position, v = [v x ,v y ,v z ] T is the speed of the unmanned aerial vehicle in three-dimensional space, v c = [v cx ,v cy ,v cz ] T is the speed control instruction of the unmanned aerial vehicle; l is the speed control gain of the unmanned aerial vehicle, representing the maneuvering performance of the unmanned aerial vehicle, which is determined by the autopilot system of the unmanned aerial vehicle.

[0017] Further, the step 2 adopts a sliding mode control method based on an event-triggered mechanism and an improved exponential reaching law to design a trajectory tracking controller of the quadrotor unmanned aerial vehicle, specifically including:

[0018] Define the position error e = p d -p, p d = [p dx ,p dy ,p dz ] T is the expected position signal; the derivative of the position error Design a sliding mode function:

[0019]

[0020] wherein s(t) = [s x ,s y ,s z ] T , c = diag[c x ,c y ,c z ], c x ,c y ,c z are all normal numbers; the derivative of the sliding mode function is obtained as follows:

[0021]

[0022] The hyperbolic tangent function is used to replace the sign function in the exponential approach law to weaken the chattering phenomenon. The method is to let be in the following form:

[0023]

[0024] where ε is a small constant, which determines the inflection point of the hyperbolic tangent function.

[0025] k = diag [k x ,k y ,k z ], k x ,k y ,k z > 0, D = diag [D x ,D y ,D z ], D x ,D f ,D z > 0, k, D are controller parameters.

[0026] Solving the two equations of , the speed control command of the quadrotor UAV can be obtained:

[0027]

[0028] Further, a fixed threshold event triggering mechanism is introduced to save communication resources, as follows:

[0029] The speed control command is changed to:

[0030]

[0031] where t k is the time of the last event trigger of the quadrotor UAV, t k+1 is the time of the next event trigger of the quadrotor UAV, and the state measurement error is defined as E(t)

[0032]

[0033] The trigger condition is set as:

[0034] t k+1 = inf {t > t k : ∥E(t)∥ > σ}

[0035] where σ represents the event trigger threshold, the larger the trigger threshold set by the controller, the fewer the number of triggers; ∥E(t)∥ represents the Euclidean norm of the vector.

[0036] Further, in step 2, the stability of the system is proved by using Lyapunov stability theorem, which is as follows:

[0037] Define Lyapunov function:

[0038]

[0039] The derivative of V is:

[0040]

[0041] According to the lemma:

[0042]

[0043] Then:

[0044]

[0045] From the expression of E(t), we have:

[0046]

[0047] And when:

[0048]

[0049] We have:

[0050]

[0051] Only need to design the controller parameters:

[0052] D>σ+1+η

[0053] η>0, and design the value of ε, so that:

[0054]

[0055] Holds, then:

[0056] When ,

[0057]

[0058] The sliding mode variable can finally be stabilized in a range, that is:

[0059]

[0060] In order to avoid the phenomenon that the event triggers infinitely many times in finite time, that is, Zeno phenomenon, it is necessary to prove that the time interval between two triggers has a lower bound greater than 0, let the time interval T k =tk+1 -t k ,

[0061] Taking the derivative of the measurement error ||E(t)||, we have:

[0062]

[0063] That is:

[0064]

[0065] The solution of the differential equation under the initial condition ||E(t)|| = 0 satisfies:

[0066]

[0067] Further, we have:

[0068]

[0069] It ensures that there is a positive minimum lower bound for the event trigger interval, excluding Zeno behavior.

[0070] Further, the step 3 is based on an indoor optical positioning system experimental platform to establish control software of the indoor small unmanned aerial vehicle, and realize trajectory tracking control of the indoor small unmanned aerial vehicle, and the specific method is:

[0071] An unmanned aerial vehicle control experimental platform based on an indoor optical positioning system is adopted, a rigid body model of the indoor small unmanned aerial vehicle is first created, real-time position and speed information of the unmanned aerial vehicle is obtained through optical positioning calculation; then, a designed trajectory tracking controller of the unmanned aerial vehicle is built in Matlab / Simulink, the position information p(t) and the speed information v(t) are taken as control inputs, and a speed control instruction v c (t) is taken as an output, the control instruction is sent to the unmanned aerial vehicle for execution through a WIFI module; finally, the algorithm is used for real flight verification of the indoor small unmanned aerial vehicle on the experimental platform, and it is proved that the trajectory tracking effect of the unmanned aerial vehicle is good.

[0072] An electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the program when implementing the trajectory tracking control method of the quad-rotor unmanned aerial vehicle based on the trigger sliding mode control according to any one of the embodiments.

[0073] A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the trajectory tracking control method of the quad-rotor unmanned aerial vehicle based on the trigger sliding mode control according to any one of the embodiments.

[0074] The computer program product comprises a computer program, which, when executed by a processor, implements the trajectory tracking control method for a quadrotor unmanned aerial vehicle based on a trigger sliding mode control according to any one of the aspects. Advantages and beneficial effects of the present application are as follows:

[0075] (1) The present application establishes an improved second-order control model for a quadrotor unmanned aerial vehicle, which combines the advantages of first-order and second-order models, and can ensure the accuracy of the dynamic unmanned aerial vehicle while facilitating the design of the controller.

[0076] (2) A fixed threshold event-triggered sliding mode controller is designed for tracking the desired trajectory of the quadrotor unmanned aerial vehicle, which can not only accurately track the desired flight trajectory, but also can control the signal to update only at the event trigger time, effectively reducing the communication frequency and saving energy.

[0077] (3) Unlike most simulation experiments, the effectiveness of the model and control algorithm is verified through the design of real experiments, which is conducive to the wider deployment of the sliding mode control algorithm and the event-triggered mechanism in the unmanned aerial vehicle trajectory tracking control. BRIEF DESCRIPTION OF DRAWINGS

[0078] Figure 1 It is an indoor optical positioning system unmanned aerial vehicle control experiment platform provided by the preferred embodiment of the present application for real flight experiments.

[0079] Figure 2 It is a trajectory tracking control module of the unmanned aerial vehicle built in Matlab / Simulink.

[0080] Figure 3 It is the actual flight trajectory of the unmanned aerial vehicle recorded by the optical motion capture system.

[0081] Figure 4 It is the trajectory tracking experiment result in Matlab.

[0082] Figure 5 It is the error variable of the unmanned aerial vehicle.

[0083] Figure 6 It is the sliding mode variable of three components.

[0084] Figure 7 It is the curve of the speed control command.

[0085] Figure 8 It is the event-triggered time interval.

[0086] Figure 9 It is a flowchart of the trajectory tracking control implementation method for a quadrotor unmanned aerial vehicle based on an event-triggered sliding mode control. DETAILED DESCRIPTION

[0087] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and in detail. The described embodiments are only some of the embodiments of the present application.

[0088] The technical solution of the present application to solve the above technical problems is:

[0089] In combination Figure 1 , the specific implementation steps of the unmanned aerial vehicle trajectory tracking control method based on event-triggered sliding mode control are as follows:

[0090] Step 1: Establish an improved second-order control model of a quadrotor unmanned aerial vehicle. Based on the autopilot system of the unmanned aerial vehicle, the quadrotor unmanned aerial vehicle is regarded as a point model, and the attitude control problem of the quadrotor unmanned aerial vehicle does not need to be considered. The improved second-order control model of the quadrotor unmanned aerial vehicle is established as follows:

[0091]

[0092] wherein p = [p x ,p y ,p z ] T is the position of the unmanned aerial vehicle in three-dimensional space, v = [v x ,v y ,v z ] T is the speed of the unmanned aerial vehicle in three-dimensional space, v c = [v cx ,v cy ,v cz ] T is the speed control command of the unmanned aerial vehicle; l is the speed control gain of the unmanned aerial vehicle, representing the maneuvering performance of the unmanned aerial vehicle, and the value is determined by the autopilot system of the unmanned aerial vehicle. In the present application, the l of the quadrotor unmanned aerial vehicle used is approximately 3.

[0093] Step 2: A sliding mode control method with an event-triggered mechanism and an improved exponential reaching law is used, a hyperbolic tangent switching function is used instead of a sign function, a trajectory tracking controller of the quadrotor unmanned aerial vehicle is designed, the stability of the system is proved by using Lyapunov stability theorem, and a lower bound greater than 0 is ensured to exist in the event-triggered interval, so as to exclude the Zeno behavior of the system.

[0094] The trajectory tracking controller of the quadrotor unmanned aerial vehicle is designed, which specifically includes:

[0095] Define the position error e = p d -p, p d = [p dx ,p dy ,p dz ] T is the expected position signal; the derivative of the position error Design the sliding mode function:

[0096]

[0097] where s(t) = [s x ,s y ,s z ] T , c = diag[c x ,c y ,c z ], c x ,c y ,c z are normal numbers; the derivative of the sliding mode function is obtained:

[0098]

[0099] The hyperbolic tangent switching function is used instead of the sign function in the exponential approach law to weaken the chattering phenomenon, and the method is to let be in the following form:

[0100]

[0101] where ε is a small constant, which determines the inflection point of the hyperbolic tangent smooth function.

[0102] k = diag[k x ,k y ,k z ], k x ,k y ,k z > 0, D = diag[D x ,D y ,D z ], D x ,D y ,D z > 0, k, D are controller parameters.

[0103] The two equations of are solved simultaneously to obtain the speed control command of the quadrotor unmanned aerial vehicle:

[0104]

[0105] A fixed threshold event-triggered mechanism is introduced to save communication resources, as follows:

[0106] The speed control command is rewritten as:

[0107]

[0108] where t kt k+1 t

[0109]

[0110] The triggering condition is:

[0111] t k+1 = inf{t > t k : ||E(t)|| > σ}

[0112] where σ represents the event triggering threshold, the greater the triggering threshold set by the controller, the less the triggering times; ||E(t)|| represents the Euclidean norm of the vector.

[0113] Define the Lyapunov function:

[0114]

[0115] The derivative of V is:

[0116]

[0117] According to the lemma:

[0118]

[0119] Then:

[0120]

[0121] From the expression of E(t), we have:

[0122]

[0123] And when:

[0124]

[0125] We have:

[0126]

[0127] Only need to design the controller parameters:

[0128] D > σ + 1 + η

[0129] And design the value of ε, so that:

[0130]

[0131] Holds, then:

[0132] When Time,

[0133]

[0134] The sliding mode variable can finally stabilize in a range, i.e.:

[0135]

[0136] In order to avoid the phenomenon of infinite times of event triggering in finite time, i.e. Zeno phenomenon, it is necessary to prove that there is a lower bound of time interval T k = t k+1 -t k ,

[0137] Taking the derivative of the measurement error ∥E(t)∥, we have:

[0138]

[0139] That is:

[0140]

[0141] The solution of the differential equation under the initial condition ∥E(t)∥ = 0 satisfies:

[0142]

[0143] Further, we have:

[0144]

[0145] It is ensured that there is a positive minimum lower bound for the interval of event triggering, and the Zeno behavior is excluded.

[0146] Step three, based on the indoor optical positioning system experimental platform, the Simulink control module of indoor small unmanned aerial vehicle is established, and the trajectory tracking control of indoor small unmanned aerial vehicle is realized. The specific method is:

[0147] First, as Figure 1 , the unmanned aerial vehicle control experimental platform based on indoor optical positioning system is adopted, and the rigid body model of indoor small unmanned aerial vehicle is first created, and the real-time position and speed information of unmanned aerial vehicle is obtained through optical positioning solution;

[0148] Then, as Figure 2 , the designed trajectory tracking controller of unmanned aerial vehicle is built in Matlab / Simulink, the position information p(t) and speed information v(t) are taken as control input, and the speed control command v c (t) is taken as output, and the control command is sent to the unmanned aerial vehicle for execution through WIFI module;

[0149] Finally, the algorithm is tested on a small indoor UAV on the experimental platform. The UAV flies along the desired trajectory p d (t) flight

[0150] p d (t) = [1.3cos(0.15t), 1.3sin(0.15t), 1] T

[0151] The sampling time is 1 / 30 second.

[0152] Figure 3 is the actual flight trajectory recorded by the optical motion capture system during the actual flight process; Figure 4 is the plot effect of the flight trajectory in Matlab; Figure 5 is the error curve of three components, and it can be seen that the position error converges to a neighborhood of 0 quickly; Figure 6 is the sliding mode variable of three components, and the sliding mode variable can be stabilized in a small range when flying along the desired trajectory (after the 10th second); Figure 7 is the curve of the speed control command v c (t), and it can be seen that the speed control command is updated and sent to the UAV for execution only when the trigger condition is met, and if the trigger condition is not met, the speed control command will remain unchanged until the next trigger time; Figure 8 is the event trigger time interval.

[0153] The systems, apparatuses, modules or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions.

[0154] The computer readable medium includes permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition in this paper, computer readable medium does not include transitory computer readable medium, such as modulated data signal and carrier wave.

[0155] It is also to be noted that the terms "comprising", "including", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0156] The above examples are to be understood only as illustrative of the application and not a restriction on the scope of protection of the application. After reading the specification, the skilled person can make various changes or modifications to the application, and these equivalent changes and modifications also fall within the scope defined by the claims of the application.

Claims

1. A UAV trajectory tracking control method based on event-triggered sliding mode control, characterized in that, Includes the following steps: Step 1: Treat the quadcopter UAV as a point mass model, and by introducing the UAV's maneuvering constant, simulate the speed command tracking delay to establish an improved second-order control model; Step 2: Using an event-triggered mechanism and an improved exponential reaching law sliding mode control method, a hyperbolic tangent switching function is used to replace the sign function to design a trajectory tracking controller for a quadcopter UAV. The stability of the system is proved using Lyapunov's stability theorem, and it is ensured that there is a lower bound greater than 0 for the event triggering interval to eliminate Zeno behavior of the system. Step 3: Based on the indoor optical positioning system experimental platform, establish a Simulink control module for indoor small UAVs to realize trajectory tracking control of indoor small UAVs; The step one of establishing the improved second-order control model for the quadcopter UAV specifically includes: Based on the autopilot system of unmanned aerial vehicles (UAVs), the quadcopter UAV is treated as a point mass model, and an improved second-order control model for the quadcopter UAV is established as follows: Where, p = [p x ,p y ,p z ] T The position of the drone in three-dimensional space. Let v be the derivative of the drone's position, then v = [v x ,v y ,v z ] T v represents the speed of the drone in three-dimensional space. c =[v cx ,v cy ,v cz ] T 1 is the speed control command for the UAV; l is the speed control gain of the UAV, also known as the maneuver constant, which represents the maneuverability of the UAV and is determined by the UAV's autopilot system. Step two employs a sliding mode control method based on an event-triggered mechanism and an improved exponential reaching law to design a trajectory tracking controller for a quadcopter UAV, specifically including: Define position error e = p d -p, p d =[p dx ,p dy ,p dz ] T The desired position signal; the derivative of the position error. Design sliding mode function: Where s(t)=[s x ,s y ,s z ] T c = diag[c x ,c y ,c z ], c x ,c y ,c z All are positive constants; taking the derivative of the sliding mode function, we get: To reduce chattering, a hyperbolic tangent switching function is used instead of the sign function in the exponential reaching law. The method is to let... It can be in the following form: Where ε is a small constant that determines the rate of change of the inflection point of the hyperbolic tangent smooth function; k = diag[k x ,k y ,k z ], k x ,k y ,k z >0, D = diag[D x D y D z ], D x D y D z >0, k, and D are all controller parameters; United The two equations can be used to solve for the speed control commands of the quadcopter drone:

2. The UAV trajectory tracking control method based on event-triggered sliding mode control according to claim 1, characterized in that, A fixed threshold-based event-triggered mechanism is introduced to save communication resources, as follows: Change the speed control command to: Among them, t k The time when the most recent event involving the quadcopter drone was triggered, t k+1 Let E(T) be the time when the next event triggers for the quadcopter UAV. Set the trigger condition as follows: t k+1 =inf{t>t k :||E(t)||>σ} Where σ represents the event trigger threshold, the larger the trigger threshold set by the controller, the fewer the number of triggers; ||E(t)|| represents the Euclidean norm of the vector.

3. The UAV trajectory tracking control method based on event-triggered sliding mode control according to claim 2, characterized in that, In step two, the stability of the system is proven using Lyapunov's stability theorem, as follows: Define the Lyapunov function: Differentiating with respect to V, we get: According to the inequality: Then we have: From the expression for E(t), we can obtain: And when: have: Only the controller parameters need to be designed: D>σ+1+η η>0, and design the value of ε such that: If true, then: when hour, The sliding mode variable can eventually stabilize within a certain range, that is: To avoid the Zeno phenomenon, where an event triggers an infinite number of times within a finite time period, it is necessary to prove that the time interval between two triggers has a lower bound greater than 0, let the time interval T be... k =t k+1 -t k , Differentiating the measurement error ||E(t)||, we have: Right now: The solution of the differential equation with initial condition ||E(t)||=0 satisfies: Furthermore, we can obtain: This ensures that there is a positive minimum lower bound for the event triggering interval, thus excluding Zeno-like behavior.

4. The UAV trajectory tracking control method based on event-triggered sliding mode control according to claim 3, characterized in that, In step three, a Simulink control module for an indoor small UAV is established based on the indoor optical positioning system experimental platform to achieve trajectory tracking control of the indoor small UAV. The specific method is as follows: An experimental platform for UAV control based on an indoor optical positioning system was adopted. First, a rigid body model of a small indoor UAV was created, and the real-time position and velocity information of the UAV were obtained through optical positioning calculation. Then, the trajectory tracking controller of the designed UAV was built in Matlab / Simulink, using the position information p(t) and velocity information v(t) as control inputs, and the velocity control command v c (t) is used as the output, and the control commands are sent to the drone for execution via the WIFI module. Finally, the algorithm is tested on an indoor small drone in a real flight on an experimental platform, which proves that the drone’s trajectory tracking performance is good.

5. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the UAV trajectory tracking control method based on event-triggered sliding mode control as described in any one of claims 1 to 4.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the UAV trajectory tracking control method based on event-triggered sliding mode control as described in any one of claims 1 to 4.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the UAV trajectory tracking control method based on event-triggered sliding mode control as described in any one of claims 1 to 4.

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