Tilting quadrotor unmanned aerial vehicle transition flight mode adaptive optimal sliding mode control method based on SDRE

The invention discloses a tilting quadrotor unmanned aerial vehicle transition flight mode adaptive optimal sliding mode control method based on SDRE. In combination with the characteristics of the tilting quadrotor unmanned aerial vehicle, controller design is directly performed for the nonlinear model of the unmanned aerial vehicle, and nonlinear characteristics beneficial to the system are reserved, so that modeling errors introduced during linearization of the model can be effectively avoided. The SDRE method and the sliding mode control are combined, the system moves according to the state track of the preset sliding mode to achieve the optimal performance index, compared with a pure SDRE control method, the calculated amount is reduced, and meanwhile the advantage that the sliding mode control has high robustness on system structure parameter uncertainty and external disturbance is brought into play. And a switching gain adaptive adjustment algorithm is introduced, so that the problem of buffeting of sl