Optimal trajectory tracking control for a uav based on linearized dynamic error

Abstract

This work proposes a solution method for tracking procedures for Unmanned Aerial Vehicles (UAVs). The proposed controller is based on the dynamics of the error obtained from the kinematic model of the UAV, i.e., on linearized 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 proposed functional cost for analysis the UAV behavior.