Tracking Control Based on Compact-Form Dynamic Linearization for Nonlinear Low-Altitude Aircraft
Year: 2026
Type: article
Abstract: Traditional trajectory tracking control of unmanned aerial vehicles relies on a precise dynamic model, which is prone to model mismatch under the change of aerodynamic parameters and external wind disturbance, and the existing data-driven scheme has shortcomings in multi-agent communication constraints, anti-interference robustness, and parameter estimation stability. A model-free trajectory tracking control method based on dynamic linearization is proposed. Firstly, the discrete-time nonlinear data mapping relationship of the UAV is constructed, and the complex nonlinear system is transformed into a linear data model by dynamic linearization technology. Secondly, the traditional least square estimation algorithm is improved, and the pseudo-partial derivative estimation criterion with a weight factor is designed to balance the accuracy and smoothness of parameter estimation. The convergence analysis of the algorithm is completed based on the principle of contractive mapping. Experiments verify the effectiveness of the algorithm.
Author: Hao Wang
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W7154252153