Adaptive Control for the UAV Trajectory Tracking under Unknown External Disturbance

This paper proposes an adaptive controller based on the trajectory tracking problem of Unmanned Aerial Vehicle (UAV) affected by unknown external disturbance. Firstly, an adaptive law is constructed to estimate and compensate the unknown external disturbance. Then, according to the estimated disturbance value, the trajectory tracking controller is designed to realize the stable trajectory tracking of the UAV under the unknown external disturbance. The stability of the controller is analyzed using Lyapunov technology and Barbalat lemma. Finally, the tracking performance is compared with other controllers through numerical simulation experiments. Simulation results show that the proposed controller has better tracking performance in both position and yaw angle.