UAV based adaptive trajectory tracking control with input saturation and unknown time‐varying disturbances

Abstract This paper proposes an adaptive control method for underactuated complex nonlinear system, that is, unmanned aerial vehicle (UAV), to realize high‐precision trajectory tracking under input saturation constraint and other disturbances via artificial neural network anti‐saturation auxiliary system. First, the rigid body motion theory is applied establish a simplified dynamic model of UAV. Then Lyapunov function designed with error surface form preliminary law based on control. Afterwards, radical basis developed used estimate compensate disturbance, while also addressed Thus stability signal consistency closed‐loop UAV system can be proved appropriately tuned parameters. Simulation experiments are performed verify proposed algorithm time‐varying disturbances.