Active disturbance rejection backstepping control for trajectory tracking of the unmanned airship

In recent years there has been an increasing interest in trajectory tracking control of the unmanned airship. This paper proposes a method of active disturbance rejection backstepping control to keep the airship tracking the reference trajectory. The influence of modeling uncertainties and the external disturbances is estimated by the disturbance observer and then compensated in the design of the backstepping controller. Lyapunov stability theory is applied to demonstrate the global asymptotically stability of the trajectory tracking control system designed. The results of simulation indicate the effectiveness of the approach in this paper.