Disturbance Rejection Control of Unmanned Aerial Vehicle Positions and Attitudes Based on Acceleration Compensation for Water Sampling

Aiming at the problem that the positions and attitudes of the water sampling unmanned aerial vehicle (WSUAV) are easily affected by environmental factors such as wind or water flow during the sampling procedure, a cascade controller composed of PD controller and sliding mode controller based on acceleration compensation is proposed. Firstly, a nonlinear dynamic model of the WS-UAV is established based on the Lagrange method. Secondly, according to the motion characteristics of the multi-body mechanism of the WS-UAV, a cascade controller consists of the position loop PD controller and the attitude loop sliding mode controller is constructed, in order to suppress the swing of the water sampler, estimated acceleration of the water sampler is fed back. Finally, the impact caused by the wind and the water flow is considered in the simulation. The results show that the proposed algorithm has a better disturbance suppression effect than LQR, the stability of the water sampling process is improved.