Abstract:

To deal with the target tracking control problem only with relative distance information between the target and the quadrotor, without velocity measurement, and the attitude angle constrain in some task scenarios, a position-attitude controller is designed. The position controller needs only the relative distance between the target and the quadrotor as input, and its output ensures the attitude command in the specified range. In order to guarantee the convergence to expect attitude in finite time, a second-order sliding mode controller is designed which can relieve the chattering of motor commands, as well as be robust to uncertainties and disturbances. Finally the simulations of different maneuvering target tracking in the wind field show satisfactory tracking performance.