Optimal Trajectory Tracking Control for a UAV Based on Linearized Dynamic Error

CHRISTIAN CARVAJAL; VICTOR ANDALUZ; FLAVIO ROBERTI; RICARDO CARELLI

Kitakyushu

Conferencia; 33th International Conference on Industrial, Engineering & Other Applications of Applied Intelligent Systems; 2020

This work proposes a solution method for tracking procedures for Un-manned Aerial Vehicles (UAVs). The proposed controller is based on the dy-namics of the error obtained from the kinematic model of the UAV, i.e., on line-arized error behavior during the tracking task. For the correction of the trajectory tracking error, an optimal controller is used that provides a gain to compensate the errors and disturbances during the task proposed by using LQR algorithm. The experimental results are presented with several weight options in the pro-posed functional cost for analysis the UAV behavior.