Abstract:

Aiming at the trajectory tracking problem of rotating wing micro aerial vehicle, an adaptive sliding mode controller based on adjusting the PID（Proportion Integration Differentiation）gain is proposed. To achieve the trajectory tracking error robustness of the model parameter variations and external disturbances, basing on Lyapunov stability theory, an adaptive law is adopted to adjust PID control gain parameters online. Saturation function is designed to inhibit sliding mode controller high-frequency chattering. Simulation results illustrate that the designed controller can drive the micro aerial vehicle to track the desired trajectory accurately, obtaining high precision, and can meet the requirements of practical engineering applications.

Key words: rotating wing micro aerial vehicle, trajectory tracking, adaptive sliding mode control, PID gain turning