To study the hose-and-drogue system’s motion under bow waves, this paper established a dynamic model of the hose-and-drogue system based on the multibody dynamics theory and the rigid ball-and-rod model. The wake of a tanker aircraft was taken into account in the simulation. The simulation results conformed to the general laws and verified the model’s accuracy. The equilibrium positions of the hose-and-drogue system were computed by the linear superposition of the bow waves and wake. The motion of the hose-and-drogue system was simulated and analyzed when a receiver aircraft moved at a constant speed or accelerated relative to the tanker aircraft. Since the receiver aircraft would not immediately stop after docking, the pulling force changes on the hose with and without a reel were compared. The present results are essential for improving the success rate of aerial refueling and ensuring the safety and stability of the hose-and-drogue system.

With the rapid development of the Internet of Things(IOT) and increasing research on tracking control of affine IOT systems with uncertain, a nonlinear control method of command filtering backstepping with self-organizing approximation is proposed. A command filter with a saturation structure is used to eliminate the analytic computation of command derivatives, and tracking errors are redefined to compensate the discrepancy between the command filtered signals and analytic computation of command derivatives. Backstepping command filtered is used to decouple the higher IOT system and simplify the structure of IOT system. Self-organizing approximation is used to on-line approximate the uncertain and eliminate the effect of the uncertain in IOT system. The approximation for the uncertain is finished by a linear product between a set of basis functions and weighted functions on the local region. The weighted sum of compensated tracking errors is used as the prespecified tracking accuracy performance. A new local approximator is added to the control system according to the criterion based on Lyapunov theory to enhance the capacity of the approximator when the prespecified tracking accuracy performance can’t be achieved. Finally, an application for a simple IOT system is analyzed by simulations. The simulation results show the control method for the IOT system is effective.