Attitude Controller for UAV First-Order Acceleration Coefficients Tracking.

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering

Background:

• Traditional attitude control for unmanned aerial vehicles (UAVs) often relies on complex Euler-angle or quaternion representations.
• These conventional methods can lead to significant computational complexity and challenges in achieving high-precision trajectory tracking.

Purpose of the Study:

• To propose a novel attitude control methodology for UAVs that simplifies orientation dynamics.
• To enhance trajectory tracking accuracy and reduce computational complexity in UAV control systems.

Main Methods:

• Decomposition of UAV orientation into horizontal tilt and yaw components.
• Redefinition of attitude error within an acceleration-coefficient space.
• Direct generation of angular velocity commands for first-order tracking of acceleration coefficients.

Main Results:

• Linearization and decoupling of horizontal acceleration dynamics.
• Substantial reduction in outer-loop controller computational complexity.
• Demonstrated superior trajectory tracking accuracy and predictable performance compared to standard techniques.

Conclusions:

• The proposed method offers a theoretically-grounded and computationally efficient approach to UAV attitude control.
• This novel methodology is effective for high-precision UAV navigation in real-world applications.
• The framework simplifies control design while improving performance under operational constraints.