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This paper presents a virtual-real interaction platform for quadrotor UAV based on Unity3D and an attitude tracking control algorithm using continuous nonsingular integral terminal sliding mode control (CNITSMC). The platform includes three components: the real quadrotor UAV, the Unity3D-based UAV model, and the MATLAB-based attitude control algorithm. The quadrotor UAV’s attitude model is derived, and a CNITSMC-based attitude tracking algorithm is designed. Finally, the effectiveness of this algorithm was verified on this platform.

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Design of Implementation Attitude Control and Virtual-Real Interaction Platform of Quadrotor UAV Based on Unity3D

  • 会议论文

  • 发表日期：

    2026年

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  • Lei Li,
  • Wenwu Zhu,
  • Fanzeng Wu,
  • Haibo Du

摘要

This paper presents a virtual-real interaction platform for quadrotor UAV based on Unity3D and an attitude tracking control algorithm using continuous nonsingular integral terminal sliding mode control (CNITSMC). The platform includes three components: the real quadrotor UAV, the Unity3D-based UAV model, and the MATLAB-based attitude control algorithm. The quadrotor UAV’s attitude model is derived, and a CNITSMC-based attitude tracking algorithm is designed. Finally, the effectiveness of this algorithm was verified on this platform.