Algorithm of Trajectory Control for Four-rotor UAV Based on Extremum Search

Four-rotor UAV is an underactuated, strong coupling, and nonlinear system. The flight control results will have a large deviations, because of the uncertainty of the model and the influence of wind force. For this reason, the uncertainty and disturbance estimator (UDE) is adopted, and the extreme value search method (ES) is introduced to adjust the parameters of UDE. The trajectory controller of UAV with strong anti-disturbance ability is designed to reduce the deviation. Through experiments of trajectory tracking simulation. The effectiveness of UDE after introducing ES is verified. This electronic document is a “live” template. The various components of your paper [title, text, heads, etc.] are already defined on the style sheet, as illustrated by the portions given in this document.