TRAJECTORY TRACKING CONTROL FOR UNMANNED AERIAL VEHICLE

Abstract

This paper addresses the problem of flight control of a single unmanned aerial vehicle. UAVs have become an active research interest in recent years and a lot have been contributed towards their flight operation and control by researchers. UAVs are either controlled remotely by a human operator or autonomously by an onboard computer. In contrast to manned aircraft, UAVs are not only used for military purposes but their use has rapidly expanded into commercial applications as well as surveillance, aerial photography etc. Keeping in mind all these applications, a UAV must be able to perform a smooth flight. If there is any disturbance in the flight, then the consequences can be highly unlikely. The major problems with UAV can be its balance issues with regards to its center of gravity. In many cases, a UAV has been seen to topple due to unbalanced motor speed. Due to the arm length of unequal size, the whole weight distribution of the vehicle gets unbalanced which results in UAV to topple. To solve this issue, the selection of it mechanical parts and their precise calculation is much important. This paper shows hardware as well as software results for the flight operation of a proposed controller that shows good stabilization as its position error converges to the zero infinite line. The simulation results acquired show that the tracking of the reference signal is achieved in real time as linked with the hardware-based results.