Robust Sliding Mode Control Based on Set-membership Estimation for UAV Trajectory Tracking Under External Disturbances

To address the challenges of unmeasurable system states and unknown disturbances in the path following of quadrotor unmanned aerial vehicles (UAVs), this paper proposes a discrete-time robust sliding mode control (DRSMC) strategy incorporating set-membership estimation. Firstly, the discrete-time model of the UAV is obtained and analyzed by Euler discretization method. Then, an extended state observer (ESO) based on L<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> design is introduced to mitigate the impact of uncertainties and enhance the accuracy of disturbance estimation. The DRSMC method ensures system stability under unknown but bounded disturbances and measurement noise, while set-membership estimation enables real-time computation of dynamic controller parameters. Finally, simulation results validate the effectiveness and superiority of the proposed control approach.