The invention relates to a quadrotor unmanned plane control method based on a fuzzy expansion
state observer and an adaptive sliding formwork. The method comprises steps that a quadrotor unmanned plane
system model is established, and a
system state and controller parameters are initiated; a tracking
differentiator is designed; a non-linear expansion
state observer is designed; fuzzy rules are established; a parameter adaptive law is designed; an adaptive sliding formwork controller is designed. According to the method, the expansion
state observer is designed to estimate indetermination of a
system model and external disturbance; a pole assignment method is utilized to determine an initial value of an expansion state observer parameter; the fuzzy rules are introduced to realize
online setting for the expansion state observer parameter; the parameter adaptive law is designed to acquire ideal controller
gain; the adaptive sliding formwork controller is designed, rapid stabilization of a system
tracking error and convergence to a zero point are guaranteed, and rapid and stable
position tracking and
pose adjustment of the quadrotor unmanned plane are realized. The method is advantaged in that system performance is improved, and rapid and
stable system position tracking and
pose adjustment are realized.