Abstract
AbstractAiming at the controller design problems in trajectory tracking for a nonlinear UAV model under external disturbance, a suboptimal integral sliding mode trajectory tracking controller based on SDRE (state dependent Riccati equation) is designed. The suboptimal controller of the nominal system without interference can be solved through SDRE method. Then the anti-interference controller is designed through integral sliding mode control method. Combine the two control input vectors to form the complete controller. Simulation results and analysis are given in the end of the paper.
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