Waypoint tracking of unmanned aerial vehicles using robust H<SUB align= �right �>2 / H<SUB align= �right �>? controller

Abstract

This paper investigates the use of 2 / HH ¥ robust controller in tracking trajectories for Unmanned Aerial Vehicles (UAVs). First, a trajectory is generated offline by solving a trajectory optimization problem, which incorporates the mission constraints and the dynamic model of the UAV. Next, a controller is designed using the 2 / HH ¥ robust control method to track the reference trajectory on-line while preserving the mission constraints. The control design process involves two steps: a convenient system identification and systematic robust controller design. Simulation results show effectiveness of the proposed controller in comparison with the optimal preview controller, which has gained more popularity recently in navigation of UAVs to track a reference path despite wind disturbances and measurement noises.

An adaptive approach for optimal path planning of unmanned aerial vehicles

“…The autopilot receives these commands and controls the elevator ( e d ), the aileron ( a d ), the rudder ( r d ), and the throttle setting ( t d ). This parthas been performed previously, such as(Badkoubeh and Farrokhi, 2010). The focus of this manuscript is on the coarsest level of the rout planning, which is the path planner (PP), as illustrated inFig.…”