Trajectory Tracking for UAV with Saturation of Velocities

MILTON SANTOS; MARIO SARCINELLI; RICARDO CARELLI

Arlington

Conferencia; 2016 International Conference on Unmanned Aircraft Systems - ICUAS'16; 2016

ICUAS

A simple strategy to saturate the reference velocities when guiding an Unmanned Aerial Vehicle (UAV) to accomplish trajectory-tracking tasks is proposed. Such acontroller has two parts: a kinematic controller to generate reference velocities for the vehicle and a state-variables change with a PD controller to guarantee the tracking of such velocities. This characterizes a cascade controller and guarantees bounded UAV velocities along the trajectory. Simulations involving UAVswith different characteristics were carried out to check the effectiveness of the designed controller, whose results validate the proposed method.