Robust Compsite Nonlinear Feedback Control for Input Saturated UAV

There are two main factors that adversely affect the performance of the unmanned aerial vehicle (UAV) control system in the actual scene. In this paper, a linear controller is designed for the CE150 UAV model. On this basis, a composite nonlinear feedback control technique (CNF) is introduced to improve the input saturation by introducing the non-linear terms that can improve the transient performance of the system. At the same time, the observer is designed to estimate the unknown disturbance online, and the disturbance compensation term is introduced into the original combined nonlinear feedback controller to improve the robustness of the system. The simulation results show that compared with the traditional linear controller, the composite nonlinear feedback controller can significantly improve the adverse effects of input saturation, while the robust CNF controller with compensation term can effectively offset the external disturbance while retaining the advantages of the original CNF control and achieve accurate tracking of the follow-up signal.