Fixed-wing unmanned aerial vehicle trajectory tracking control system and method based on disturbance observer

Through the composite control strategy based on disturbance observer, the trajectory tracking problem of fixed-wing UAV under complex interference is solved, high-precision trajectory tracking and safe flight are achieved, and the robustness of the system and the control capability of the actuator are enhanced.

CN120704387APending Publication Date: 2025-09-26NANJING AOKONG EQUIPMENT TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202510883351.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-06-29
Publication Date
2025-09-26

AI Technical Summary

Technical Problem

Existing fixed-wing UAV trajectory tracking control systems have difficulty achieving high-precision trajectory tracking when faced with complex interference. Traditional methods have weak interference estimation and compensation capabilities, trajectory planning is not optimized enough, and the actuator control accuracy is insufficient, resulting in UAV flight deviations and safety risks.

Method used

A control system based on disturbance observer is adopted, which combines the composite control strategy of model predictive control and sliding mode control. Through data acquisition, disturbance observation, trajectory planning and actuator drive modules, external disturbances are estimated in real time, the trajectory is planned and optimized, and the attitude and flight status of the UAV are adjusted through high-precision actuators.

Benefits of technology

It improves trajectory tracking accuracy, enhances system robustness, optimizes trajectory planning, and improves the control accuracy and reliability of the actuator, ensuring the safe and efficient flight of UAVs in complex environments.

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Abstract

The invention discloses a fixed-wing unmanned aerial vehicle trajectory tracking control system and method based on a disturbance observer. The system acquires various state data of the unmanned aerial vehicle through the data acquisition module, the interference observer module estimates external interference in real time based on a dynamic model, the trajectory planning module generates an optimized trajectory according to tasks and environments, and the controller module realizes accurate control by adopting a model prediction control and sliding mode control composite strategy. And the execution mechanism driving module executes the control instruction. The method comprises the steps of data acquisition, interference estimation, trajectory planning, controller design and calculation, actuating mechanism driving and the like. The method can effectively improve the trajectory tracking accuracy and stability of the fixed-wing unmanned aerial vehicle in a complex environment, and has a wide application prospect.
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