DOB tracking control algorithm for unmanned aerial vehicles with T-S disturbance modeling

In this paper, a disturbance observer based (DOB) anti-disturbance dynamical tracking control is discussed for un- manned aerial vehicles (UAVs) with unknown disturbances. The designed DOBC algorithm is combined with the T-S fuzzy disturbance models so as to achieve the track of the velocity and the pitching angle of UAVs. On one hand, the T-S fuzzy mod- els are employed to describe the unmodeled nonlinear disturbances, in which a DOB on T-S disturbance model is designed to estimate unknown disturbances. On the other hand, a DOB PI-type feedback controller is proposed to ensure the UAV models stability and convergence of the tracking error to zero. Finally, the simulation results further verify the designed DOB algorithm can obtain the satisfactory anti-disturbance and dynamical tracking performance.