Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

For an unmanned aerial vehicle (UAV) of aircraft type, the problems planning achievable trajectories as well robust control under wind disturbances are considered. A computationally simple method for compiling a primary non-smooth 4D trajectory is proposed. Its segments connect given waypoints and determine desired average velocity in various sections. Instead time-consuming methods analytical smoothing broken path joints using polynomials, tracking differentiator with S-shaped smooth limited sigmoid corrective actions developed. This virtual dynamic model provides natural considering design constraints on velocity, acceleration, thrust UAV. The variables create used to synthesize UAV system. To compensate action UAV, disturbance observer It replica equations plant model, which directly affected by external uncontrolled disturbances. These algorithms also use corrections. Unlike standard observers, this approach does not require development assume their smoothness. effectiveness developed was confirmed numerical simulation.