The Attitude Stability Control Method of Unmanned Aerial Vehicles Based on Sliding Mode Theory

Abstract

Unmanned aerial vehicles have been increasingly widely applied in various fields in the last decade. However, during the execution of tasks, unmanned aerial vehicles (UAVs) are prone to be disturbed by gusts of wind, which affects the mission execution efficiency of UAVs and threatens flight safety. Aiming at the problem of unstable flight of unmanned aerial vehicles (UAVs) under gust disturbances during flight, this paper first establishes the flight dynamics model and gust model of UAVs and designs an attitude controller for UAVs under gust disturbances by using the sliding mode algorithm. It’s proved that the controller is stable through Lyapunov stability theory. Finally, numerical simulation tests were carried out to verify the control effect of the designed controller under wind interference. The simulation test shows that the sliding mode controller designed in this paper has better robustness under gust interference than the traditional method-PID control, improving the stability and anti-interference ability of the unmanned aerial vehicle under gust disturbance.