Waypoint tracking of unmanned aerial vehicles using robust H2 / H? controller

Authors:
A. Baudkoobeh;M. Farrokhi
Affiliations:
Department of Electrical Engineering, Iran University of Science and Technology, Tehran, 16846, Iran.;Department of Electrical Engineering, Iran University of Science and Technology, Tehran, 16846, Iran
Venue:
International Journal of Systems, Control and Communications
Year:
2011

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Abstract

This paper investigates the use of H2 / H? robust controller in tracking trajectories for unmanned aerial vehicles (UAVs). First, it is assumed that the desired trajectory is available by solving the trajectory optimisation problem, which incorporates the mission constraints and the dynamic model of the UAV. Next, a controller is designed using the H2 / H? robust control method to track the reference trajectory online 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.