Discrete increment sliding mode quadrotor control method based on neural network and disturbance observation

The invention discloses a discrete increment sliding mode four-rotor control method based on a neural network and disturbance observation, and belongs to the field of four-rotor unmanned aerial vehicles, and the method comprises the steps: S1, building a six-degree-of-freedom four-rotor unmanned aerial vehicle model by considering the uncertainty factors of an aircraft; s2, designing a disturbance observer, modeling wind power under a gust condition, and designing a wind power online predictor based on the disturbance observer and a neural network; s3, designing a fault problem solution of sensor error and time delay based on the neural network; and S4, respectively designing discrete increment sliding mode fault-tolerant controllers in the attitude loop and the position loop. The method has the advantages of high robustness, high fault tolerance and high-precision control. 本发明公开了一种基于神经网络和扰动观测的离散增量滑模四旋翼控制方法，属于四旋翼无人机领域，包括步骤：S1，考虑飞行器不确定性因素建立六自由度的四旋翼无人机模型；S2，设计扰动观测器并对阵风条件下的风力进行建模，设计基于扰动观测器和神经网络的风力在线预测器；S3，设计基于神经