Aerial photography trajectory-tracking controller design for quadrotor UAV

Quad-rotor unmanned aerial vehicles (UAV) are prone to external interference during photography of farmland environments. For example, they affected by airflow and load, resulting in route deviation irregular image overlap, which seriously affects quality. An trajectory tracking controller is designed for this process. To ensure that a drone can fly according the established process meet requirements large-scale topographic map stereo mapping flight control accuracy platform, system was divided into full-drive subsystem an underactuated subsystem. The uses fast terminal sliding mode variable ([Formula: see text]) reaches desired value. under-actuated adopts second-order used achieve effective position attitude variables text]). controllers derived using Lyapunov theory. Finally, with taken as path UAV simulated. Simulation results show be applied has strong anti-system parameter perturbation, robustness good tracking.