Model-Free Trajectory Tracking Control for Nonlinear Non-affine Low-Altitude Vehicle

This paper investigates the trajectory tracking control problem of nonlinear low-altitude vehicle (LAV) in the presence of communication link faults. Existing studies typically rely on the dynamical information of the controlled object. To circumvent unmodeled dynamics, this paper constructs a data- driven mapping of the controlled system based on the compact-form dynamic linearization technique, and proposes an adaptive dynamic estimation mechanism. A data compensation mechanism is also introduced to mitigate the effects of data loss. Moreover, a complete proof of algorithm convergence is provided based on the contraction mapping principle. Finally, simulations demonstrate the effectiveness of the proposed algorithm.