Quantization Tracking Control Based on Disturbance Observer for the Unmanned Aerial Vehicles

Abstract

In this paper, we propose a quantized tracking control scheme for the Unmanned Aerial Vehicles with the external disturbances. A disturbance observer is proposed to handle the disturbances and a commanded filter backstepping technique is adopted to reduce the computational complexity. The error compensation signals are used to reduce the influence of filtering errors. The hysteresis uniform switching bounded quantization mechanism is introduced in the control channel to reduce the data transmission burden and resource usage as well. Finally, the effectiveness of the proposed method is verified by stability proof and numerical simulation.