Research on trajectory tracking control of ocean unmanned aerial vehicles based on disturbance observer and nonlinear sliding mode

Abstract

This paper aims to solve the problem of real time tracking of unmanned aerial vehicle (UAV) with external disturbances, model uncertainty, and multiple control parameter tuning during wave glider (WG) navigation. Firstly, the dynamic model of UAV and WG is instituted; Secondly, an Expanded State Observer (ADOB) is proposed to estimate the total perturbations in real time, including model uncertainties and external wind perturbations; Moreover, the ADOB is integrated with a nonlinear integral sliding mode control to generate a nonlinear sliding mode controller (ASMC) with a compound disturbance observer for the trajectory tracking control strategy; Finally, the bandwidth parameterization theory is used to tune the parameters of the ASMC controller. Simulation and experimental results show that the UAV trajectory tracking landing control scheme proposed in this paper can effectively solve the real-time tracking problem of the UAV during WG navigation.