Trajectory Tracking Control for Plant Protection Quadrotor Under Spraying Operation

Aiming at the problem of the quality decline of the plant protection quadrotor in spraying operation caused by the change of liquid in the medicine cabinet carried on it, the trajectory tracking control of the plant protection quadrotor under spraying operation was realized, and a trajectory tracking control method of the plant protection quadrotor under spraying operation was proposed. The nonlinear dynamics model of the plant protection quadrotor was established under the premise of considering the influence of the liquid changes in spraying operation. Based on the PD control, a fuzzy controller is introduced to adjust the control parameters online, so as to realize the trajectory tracking control of the plant protection quadrotor under spraying operation. The experimental results show that the method proposed in this paper can ensure the stable tracking control of the plant protection quadrotor under spraying operation, with fast response speed and small overshoot, and meet the tracking control requirements under spraying operation conditions of the plant protection quadrotor.