Tracking Control with Uncertainty Smoothing Estimation under Aggressive Maneuvers of Aerial Vehicles

Abstract

Aggressive maneuvering is crucial for aerial vehicles to execute adversarial and penetration missions. However, this challenges the accurate tracking control of drones due to uncertainties induced by high-speed flight. Therefore, firstly, a highly dynamic tracking control framework is proposed to actualize the accurate tracking of aggressive trajectories with velocities up to 15 m/s (i.e., 54 km/h) and acceleration of 2 g. Secondly, in order to mitigate the impact of conjoint effects on uncertainty estimation during aggressive flights and to ensure that uncertainty is smoothly compensated, a novel adaptive nonlinear extended state observer (ANESO) with noise suppression and peak attenuation capabilities is designed. Finally, extensive comparative simulation and real-world practical experimental results certify the superiority of the proposed control strategy in tracking aggressive trajectories.