The control method within wind disturbance for MAV based on nonlinear model

To solve the issues of nonlinear model and wind disturbance, it was proposed that the sliding mode control method based on vector field. Firstly, the nonlinear model for MAV(Micro Aerial Vehicle) was constructed. Secondly, the complexity tracking decomposed into straight line and arc segment by the proposed control method, the stable and convergent control law was constructed, and then the simulation experiment shows that MAV can complete the task of tracking in the windy condition through the navigation information. Finally, the proposed control method was compared with the traditional PID controller by flight experiments, and experimental results show that the proposed control method can guarantee the flight path control accuracy in the wind field for MAV.