Model-free Trajectory Tracking Control for Single UAV

For the UAV trajectory tracking control problem in the presence of data packet loss, an adaptive model-free control scheme is proposed. Firstly, the local dynamic linearization technique is used to establish the input-output data mapping of the UAV, and in order to avoid the unmodeled dynamics inevitably caused by the system identification of the UAV, a data-driven idea control scheme is proposed based on the above data mapping, which incorporates the dynamic behavior of the UAV into the pseudo-partial derivatives, and uses a projection algorithm to adaptively estimate the dynamics of the UAV, and the compressed mapping method is used to demonstrate the Stability. Simulation experiments verify the effectiveness of the algorithm described in this paper.