Attitude Control of Tiltrotor Unmanned Aerial Vehicle Helicopter Mode Based on ESO-AISMC

The tiltrotor unmanned aerial vehicle has poor stability and high challenges in wind disturbance or large maneuver control, and an improved three-loop controller is proposed to improve the trajectory tracking effect. To address the uncertainty of the internal parameters of the helicopter mode and the external wind disturbance, the lumped disturbance of the extended state observer is used to compensate for the system. In order to reduce the estimation burden of the extended state observer and enhance the stability of the control system, an adaptive integral sliding mode control (AISMC) algorithm with adjustable gain was designed, and the stability of the roll and pitch attitude loop channel control was proved. Simulation experiments in MATLAB demonstrate that the controller exhibits a good trajectory tracking effect under disturbances, including trajectory switching and wind disturbance.