UAV Autonomous Aerial Partner Refueling Fuel Delivery Section Anti-Disturbance Control

Aiming at the relative position and velocity maintenance control problems of the fuel delivery phase in the UAV aerial autonomous partner refueling, this paper proposes a fuel delivery segment control method based on active anti-disturbance control. First, a six-degree-of-freedom dynamics model of a variable-mass UAV considering fuel transfer is established. Meanwhile, the established UAV model is transformed into an affine nonlinear form to facilitate the design of subsequent nonlinear controllers. Then, an expansion state observer is designed for each control loop to estimate and compensate for the set-total disturbance. A self-anti-disturbance controller is designed for each loop based on the backstepping theory. Finally, the effectiveness of the method in this paper is verified by simulation.