Robust Optimal Control for Unmanned Aerial Vehicles Three-dimensional Trajectory Tracking in Wind Disturbance

Zhang Kun; Gao Xiao-guang

doi:10.11999/JEIT150047

Volume 37 Issue 12

Jan. 2016

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Zhang Kun, Gao Xiao-guang. Robust Optimal Control for Unmanned Aerial Vehicles Three-dimensional Trajectory Tracking in Wind Disturbance[J]. Journal of Electronics & Information Technology, 2015, 37(12): 3009-3015. doi: 10.11999/JEIT150047

Citation:

Zhang Kun, Gao Xiao-guang. Robust Optimal Control for Unmanned Aerial Vehicles Three-dimensional Trajectory Tracking in Wind Disturbance[J]. Journal of Electronics & Information Technology, 2015, 37(12): 3009-3015. doi: 10.11999/JEIT150047

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Robust Optimal Control for Unmanned Aerial Vehicles Three-dimensional Trajectory Tracking in Wind Disturbance

doi: 10.11999/JEIT150047

Zhang Kun¹,
Gao Xiao-guang¹

Funds:

The National Natural Science Foundation of China (60774064)

Received Date: 2015-01-07
Rev Recd Date: 2015-08-02
Publish Date: 2015-12-19

Abstract

Abstract

This paper presents a robust optimal guidance control law for precise three-dimensional (3D) trajectory tracking of an Unmanned Aerial Vehicle (UAV) in wind disturbance. The wind disturbance is considered in the UAVs kinematic model. The reference path is considered as a trajectory of a virtual target. Feedback linearization is used to transform the nonlinear dynamics of the UAV to linear state equations. Based on the assumption that the wind disturbance can be known precisely, an optimal control law is derived for the UAV's 3D trajectory tracking using the LQR (Linear Quadratic Regulator). Then considering the unknown wind disturbance, a robust term is designed to replace the unknown wind disturbance, and a robust optimal control law is obtained. Global asymptotic stability of the closed-loop system is proved by Lyapunov stability theory. Simulations show that the proposed control law can achieve precise 3D UAV trajectory tracking with wind disturbance attenuation, and has good tracking performance.
- 3D trajectory tracking,
- Optimal control,
- Robust control,
- Winds disturbance

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References(32)

References

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