Tracking Control For Vtol Aircraft With Input Disturbances Based On Nonlinear Disturbance Observer

This study presents a tracking control strategy to force an inputdisturbed non-minimum phase vertical take-off and landing aircraft to asymptotically track a given reference trajectory. The control development is based on a nonlinear disturbance observer, which can compensate the effects of input disturbances efficiently. Then taking the input disturbances into consideration, a sliding mode control law is proposed, which can guarantee that the tracking errors asymptotically converge to zero. The merits of the method include its simple design and implementation. Both simulation results and stability analysis demonstrate the effectiveness and robustness of the proposed control method.