A novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle (UAV) is proposed to solve a moving target tracking problem. Firstly, the control system is decoupled into the position control system and the attitude control system. Secondly, a method combined artificial potential field with passivity control (APF&PC) is introduced for the positioning system to achieve high-precision tracking of moving target at a fixed distance. Thirdly, a super-twisting sliding mode (STSM) method with an improved reaching law for the attitude system is applied to ensure that the attitude converges to the desired value. Furthermore, the stabilities of two subsystems are proved, and sufficient stability conditions are derived based on the passive method and Lyapunov method, respectively. Finally, simulation results of the moving target tracking verify the superiority and robustness of the proposed control method in the presence of parameter uncertainties and external disturbances.

中文翻译：

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基于无源控制和超扭曲滑模控制的四旋翼无人机运动目标跟踪控制

提出了一种新型的欠驱动四旋翼无人机（UAV）渐近跟踪控制器，以解决运动目标跟踪问题。首先，控制系统被分离为位置控制系统和姿态控制系统。其次，提出了一种结合人工势场和无源控制的方法（APF＆PC），用于定位系统，实现了对固定距离目标的高精度跟踪。第三，采用一种改进的姿态系统到达律的超扭转滑模（STSM）方法，以确保姿态收敛到期望值。此外，证明了两个子系统的稳定性，并分别基于被动方法和Lyapunov方法推导了足够的稳定性条件。最后，