Disturbance Observer Based Ground Vehicle Tracking Control Under Intermittent Feedback for Quadrotor

In this article, a tracking control strategy is proposed for a quadrotor-ground vehicle system. The tracking control strategy is designed for target loss in tracking processes at random time intervals. A tracking process with loss of the ground target is modeled as a tracking error system with intermittent feedback for the quadrotor. A nonlinear disturbance observer is designed to deal with the intermittent feedback and the target movement. A fixed-time velocity controller is proposed with favorable tracking accuracy and dynamic response. Effectiveness of the tracking control strategy is analyzed for the closed-loop control system based on Lyapunov methods and switched systems. Experimental results are given by an air-ground platform for the tracking control strategy.