Abstract: A sensitive and robust controller is pivotal for achieving efficient and safe aerial docking. This study focuses on the rapid and precise docking control of a flying boom refueling system under complex airflow disturbances. A high-fidelity model of the flying boom system, incorporating gimbal composite hinge pairs, is developed. Building upon a controller framework combining backstepping control and a sliding mode observer, the design incorporates considerations for embedded hardware implementation, such as onboard models and filter design, resulting in an advanced controller viable for real-world hardware. Ground simulation tests and wind tunnel flight tests were conducted to comparatively analyze the dynamic response characteristics of controllers with onboard model dynamic feedback. The results provide valuable design references for developing and validating similar advanced controllers. Furthermore, a comparative analysis between a Proportional-Integral (PI) controller and the advanced disturbance-rejection controller under wind tunnel conditions highlights the significant superiority of the latter in executing the aerial docking mission for the flying boom system.

Key words: flying boom refueling, auto docking, disturbance-rejection control, sliding mode observer, wind tunnel test