Adaptive trajectory tracking control for nonlinear low altitude vehicles

A data-driven adaptive control scheme is formulated for the trajectory tracking control problem of low-altitude vehicles with random data loss. Firstly, the dynamic data mapping of low-altitude vehicles is established based on the dynamic linearization technique; Conventional ways in this field usually design the control scheme based on the approximately identified model derived from the system identification process. To avoid the unknown dynamics and mitigate the passive effects of data loss, a backward compensation mechanism is designed according to the consideration that denial-of-service attacks follow a 0-1 distribution; under this mechanism, a pseudo partial derivative adaptive updating strategy based on a projection algorithm and a data-driven adaptive control scheme are designed. The convergence of the algorithm and the boundedness of input and output of systems are analyzed based on the compressed mapping criterion for both the constant trajectory and time-varying trajectories. Simulation experiments verify the effectiveness of the described scheme.