T-S Fuzzy Modeling-Based Anti-Disturbance Tracking Control method for Unmanned Aerial Vehicles with Nonlinear Disturbance

In this paper, an anti-disturbance tracking control approach for unmanned aerial vehicles (UAVs) subject to nonlinear disturbances is proposed. The T-S fuzzy modeling methods is applied to characterize the nonlinear dynamics of UAV systems.. First, the nonlinear disturbances are modeled using the TS fuzzy models enabling systematic representation of complex disturbance behaviors. Simultaneously, an observer mechanism derived from the T-S fuzzy disturbance model is developed to estimate unknown nonlinear disturbances in real time. This disturbance observer-based (DOB) framework provides a robust estimation strategy for unmeasured dynamic uncertainties. Second, a DOB-integrated PI feedback control scheme is proposed to guarantee both system stability and tracking accuracy. The controller design ensures that tracking errors converge to zero asymptotically, while the DOB component actively compensates for estimated disturbances to enhance robustness. In order to demonstrate that the proposed DOB algorithm effectively, We can simulate it through MATLAB/SIMULINK. The simulation results suppresses nonlinear disturbances and achieves superior dynamic tracking performance. The method showcases strong adaptability to uncertain environments, highlighting its potential for practical UAVs control applications.