Robust discrete‐time fractional‐order control for an unmanned aerial vehicle based on disturbance observer

Abstract

AbstractIn this article, a robust discrete‐time fractional‐order tracking control scheme based on a discrete‐time disturbance observer (DTDO) is proposed for an unmanned aerial vehicle (UAV) system in the presence of unknown bounded variation disturbances. A DTDO is first constructed to estimate the unknown bounded disturbance. On the basis of the output of the DTDO and the discrete‐time fractional‐order theories, a robust discrete‐time fractional‐order control scheme is then designed by using the backstepping control technique for a discrete‐time UAV system with disturbances. The proposed control scheme is expected to guarantee the stability of the closed‐loop system with all system signals bounded. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed control scheme.