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Trajectory tracking controller for unmanned helicopter under environmental disturbances.

Mario E Serrano1, Daniel C Gandolfo2, Gustavo J E Scaglia1

  • 1Instituto de Ingeniera Qumica (IIQ), Universidad Nacional de San Juan, CONICET, Avda. San Martin Oeste 1109, J5400ARL San Juan, Argentina.

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This study introduces a novel trajectory tracking control algorithm for unmanned aerial vehicles (UAVs). The method uses linear algebra to ensure accurate flight path following despite environmental disturbances.

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Area of Science:

  • Robotics and Control Systems
  • Aerospace Engineering

Background:

  • Unmanned aerial vehicles (UAVs) require robust control systems for accurate trajectory tracking.
  • Environmental disturbances pose significant challenges to maintaining desired flight paths.

Purpose of the Study:

  • To develop a simple yet effective trajectory tracking control design algorithm for UAVs.
  • To ensure reliable tracking performance in the presence of external disturbances.

Main Methods:

  • A novel control algorithm based on linear algebra theory.
  • Reformulation of the column space in linear equations at each sampling time.
  • Statistical method for control tuning and cost function minimization.

Main Results:

  • The proposed approach ensures uniform control signals without compromising tracking error convergence.
  • Demonstrated convergence of tracking errors to zero.
  • Controller effectiveness validated through simulations in realistic, disturbed scenarios.

Conclusions:

  • The developed algorithm provides a robust and effective solution for UAV trajectory tracking.
  • The method's theoretical underpinnings and practical effectiveness are confirmed.