Research on a Combinatorial Control Method for Small Aerial Vehicles Based on Disturbance Compensation Techniques

A combined control configuration for path tracking of small aerial vehicles is presented in the given study. The proposed approach implements an extended observer as part of the cascade scheme. This estimator compensates aerodynamic perturbations, enabling the accurate tracking of the vehicle's trajectory, even if wind mishaps occur. It has been determined that the error between the target path and the observed deflection will exponentially degenerate into some residual set when using a backstepping controller. The applicability of the observer-controller configuration had been proven in an extensive number of numerical simulations.