Advanced trajectory tracking for UAVs using combined feedforward/feedback control design

Kara-Mohamed, Mohamed (2017) Advanced trajectory tracking for UAVs using combined feedforward/feedback control design. Robotics and Autonomous Systems, 96. pp. 143-156. ISSN 0921-8890

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Abstract

Trajectory tracking is a major challenge for UAVs. The more complex the trajectory is, the more accurate tracking is required with minimum divergence from the trajectory. Apart from active trajectory tracking mechanisms, current solutions to accurate trajectory tracking in narrow areas require low speed motions. This paper presents a systematic design methodology using centralised feedforward/feedback control architecture for advanced trajectory tracking without compromising the speed of the vehicle. Using the ℋ∞ norm as a measure for the design criteria, the proposed method proves fast tracking with no overshooting and less actuators energy compared with single degree-of-freedom feedback control method. The results are verified using simulations for two systems: a tri-rotor VTOL UAV (fully actuated system), and a quadrotor trainer (over-actuated system).

Item Type:	Article
Identification Number:	10.1016/j.robot.2017.07.009
Dates:	Date Event 1 August 2017 Published Online 17 July 2017 Accepted
Subjects:	CAH10 - engineering and technology > CAH10-01 - engineering > CAH10-01-08 - electrical and electronic engineering
Divisions:	Faculty of Computing, Engineering and the Built Environment > College of Engineering
Depositing User:	Mohamed Kara-Mohamed
Date Deposited:	15 Sep 2017 07:32
Last Modified:	20 Jun 2024 11:50
URI:	https://www.open-access.bcu.ac.uk/id/eprint/5152

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