Research on Trajectory Tracking Control of Inspection UAV Based on Real-Time Sensor Data.

In power inspection, uncertainties, such as wind gusts in the working environment, affect the trajectory of the inspection UAV (unmanned aerial vehicle), and a sliding mode adaptive robust control algorithm is proposed in this paper to solve this problem. For the nonlinear and under-driven characteristics of the inspection UAV system, a double closed-loop control system which includes a position loop and attitude loop is designed. Lyapunov stability analysis is used to determine whether the designed system could finally achieve asymptotic stability.