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Volume 7
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Article

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

by
Yaping Song
,
Kenan Yong
* and
Xiaolong Wang
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
*
Author to whom correspondence should be addressed.
Drones 2023, 7(2), 90; https://doi.org/10.3390/drones7020090
Submission received: 31 December 2022 / Revised: 25 January 2023 / Accepted: 26 January 2023 / Published: 27 January 2023
(This article belongs to the Special Issue Advanced Intelligent Decision-Making and Flight Control of Unmanned Aerial Vehicles)
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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 path following; Serret–Frenet frame; disturbance observer; dynamic surface control

Share and Cite

MDPI and ACS Style

Song, Y.; Yong, K.; Wang, X. Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following. Drones 2023, 7, 90. https://doi.org/10.3390/drones7020090

AMA Style

Song Y, Yong K, Wang X. Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following. Drones. 2023; 7(2):90. https://doi.org/10.3390/drones7020090

Chicago/Turabian Style

Song, Yaping, Kenan Yong, and Xiaolong Wang. 2023. "Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following" Drones 7, no. 2: 90. https://doi.org/10.3390/drones7020090

APA Style

Song, Y., Yong, K., & Wang, X. (2023). Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following. Drones, 7(2), 90. https://doi.org/10.3390/drones7020090

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