Trajectory following control of UAVs with wind disturbance

This paper studies the trajectory following control algorithm for UAVs with the wind disturbance. Firstly, the lateral motion equations of fixed-wing UAVs are established. A disturbance observer is designed to estimate the unknown wind disturbance. Then, the backstepping control strategy combined with the output of disturbance observer is designed to realize the trajectory following, and the stability analysis of the closed-loop system is also conducted. Finally, simulation results are provided to illustrate the effectiveness of the proposed control algorithm.