Disturbance Interval Observer-Based Robust Constrained Control for Unmanned Aerial Vehicle Path Following

This work presents a robust constrained path-following control scheme for the unmanned aerial vehicle (UAV) under wind disturbances. Through appointing projection from UAV to path, Serret–Frenet frame is introduced reduce complexity of problem. Specifically, disturbance interval observer employed generate Then, design presented based on dynamic surface technique, and auxiliary system adopted deal with command limitation during process. Accordingly, stability closed-loop analyzed. The effectiveness developed demonstrated using numerical simulations.