Trajectory tracking control of tilt-propulsion UAV vertical take-off and landing mode based on NLESO

Aiming at the vertical take-off and landing mode of tilt-propulsion UAV with uncertainties such as external environment disturbance internal parameter perturbation, this paper studies trajectory tracking control, proposes an double loop sliding control scheme based on nonlinear extended state observer (NLESO). Firstly, according to characteristics UAV, dynamic model propulsion system, aerodynamic fuselage/wing yaw rudder, equation are established in turn complete modeling work. Then, regarded lumped disturbances, NLESO is designed estimate them compensate system. Afterwards, method, position attitude controller VTOL designed. Finally, Lyapunov function analyze stability whole Simulation results show that proposed method significantly improves response speed ability suppress tilt UAV.