Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following

Abstract

This work presents a robust constrained path-following control scheme for the unmanned aerial vehicle (UAV) under wind disturbances. Through appointing the projection from the UAV to the path, the Serret–Frenet frame is introduced to reduce the complexity of the path-following problem. Specifically, the disturbance interval observer is employed to generate the interval of the wind disturbances. Then, the path-following control design is presented based on the dynamic surface control technique, and the auxiliary system is adopted to deal with the command limitation during the design process. Accordingly, the stability of the closed-loop system is analyzed. The effectiveness of the developed control scheme is demonstrated using numerical simulations.

Keywords

• path following
• Serret–Frenet frame
• disturbance observer
• dynamic surface control