Trajectory Tracking for Unmanned Aerial Vehicles with Autopilot in the Loop
نویسندگان
چکیده
This paper studies the trajectory-tracking strategy for unmanned aerial vehicles where the autopilot is involved in the feedback control. The trajectory-tracking controller is derived based on a generalized design model using Lyapunov based backstepping. The augmentations of the design model and trajectory-tracking controller are conducted to involve the autopilot in the closed-loop system. Lyapunov stability theory is used to guarantee the augmented controller is capable to drive the vehicle to exponentially converge to and follow the desired trajectory with the other states bounded. Simulation results are presented to validate the augmented controller. This paper presents a framework of implementing the developed trajectory-tracking controllers for UAVs without any modification to the autopilot.
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