Model-free Adaptive Trajectory Tracking Control for Nonlinear Low-altitude Aircra

This paper studies the trajectory tracking control of nonlinear low-altitude aircraft with communication disturbance. Previous studies usually only consider the ideal flight environment, and the design of the control algorithm often depends on the precise dynamic information of the aircraft. In order to avoid dynamic modelling and consider the practical constraint of communication disturbance, this paper proposes a data-driven adaptive trajectory tracking control scheme. Firstly, the nonlinear data mapping of aircraft is established based on pseudo-partial derivatives, and then an adaptive updating law of pseudo-partial derivatives is proposed based on an improved projection algorithm. On this basis, a model-free control scheme with a data compensation mechanism is proposed, and the communication disturbance of UAVs under various data disturbance attacks is simulated, which proves that the algorithm has good robustness.