Trajectory tracking controller for unmanned helicopter under environmental disturbances

SERRANO, MARIO E.; GANDOLFO, DANIEL C.; SERRANO, MARIO E.; GANDOLFO, DANIEL C.; SCAGLIA, GUSTAVO J.E.; SCAGLIA, GUSTAVO J.E.

ISA TRANSACTIONS.

ELSEVIER SCIENCE INC

Año: 2020 p. 171 - 180

0019-0578

This paper develops a trajectory tracking control design algorithm to be applied in unmannedaerial vehicles (UAVs). The strategy is simple but effective and it is based on linear algebratheory. The proposed approach reforms the column space of a system of linear equations ateach sampling time to ensure the tracking objective when environmental disturbances appear.This new formulation ensures a uniform signal without affecting the error convergence to zero(demonstration available), which is one of the main contributions of this work. A statisticalmethod is used to tune the system control minimizing a pre-dened cost function. In addition,the convergence to zero of the tracking errors is demonstrated in this work. Finally, thecontroller´s effectiveness is tested through several simulations in realistic test scenarios in thepresence of disturbances