Model-Free Adaptive Trajectory Tracking Control for UAVs

This article proposes a model-free adaptive trajectory tracking control approach for UAVs that bypasses the need for precise system modeling, learning control laws directly from system input-output data. By introducing pseudo partial derivatives (PPD) as time-varying parameters, the nonlinear system model is effectively linearized, and a robust PPD estimation algorithm is developed to handle environmental disturbances and sensor errors. Stability analysis and simulation tests confirm the effectiveness and robustness of the proposed control approach.