Disturbance interval observer-based carrier landing control of unmanned aerial vehicles using prescribed performance

Abstract

Unmanned aerial vehicles (UAVs) play an increasingly important role in modern warfare. Capturing the air supremacy of sea areas by equipping carriers with UAVs is an inevitable trend. This work focuses on the carrier landing control problem of UAVs under uncertain and external disturbance modeling. To this end, a disturbance interval observer (DIO)-based carrier landing control scheme is developed on the basis of the dynamic surface control framework by using the prescribed performance. This scheme can provide the interval estimation of the unknown item and then guarantee the trajectory of the UAV staying within the landing window. In particular, nonlinear gains are introduced into the design of the DIO and the controller to handle nonlinear coupling during the landing maneuver. The stability of the closed-loop system, which provides the parameter design condition, is analyzed on the basis of the Lyapunov method and invariant theory. Finally, a numerical illustration is presented to demonstrate the effectiveness of the developed control scheme.