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Fixed-wing Miniature Air Vehicle (MAV) is not only coupled with longitudinalmotion, but also more susceptible to wind disturbance due to its lighterweight, which brings more challenges to its altitude and airspeed controllerdesign. Therefore, in this paper, an improved longitudinal control strategybased on energy state, is proposed to address the above-mentioned issues. Thecontrol strategy utilizes the Linear Extended State Observer (LESO) to observethe energy states and the disturbance of the MAV, and then designs aMultiple-Input Multiple-Output (MIMO) controller based on a more coordinatedTotal Energy Control (TEC) strategy to control the airspeed and altitude of theMAV. The performance of this control strategy has been successfully verified ina Model-in-the-Loop (MIL) simulation with Simulink, and a comparative test withthe classical TEC algorithm is carried out.

Robust Coordinated Longitudinal Control of MAV Based on Energy State