This paper proposes a switching adaptive control for trajectory tracking of unmanned aircraft systems. The switching adaptive control method is designed to overcome the wind disturbance and achieve a proper tracking performance for control systems. In the suggested system, the wind disturbance is regarded as a finite set of uncertainties; a controller is designed for each uncertainty, and a per...

For the complex combat environment, considering the flyable performance constrains and the safety constrains, an online trajectory planning algorithm of UAVs(Unmanned Aerial Vehicles) based on Pythagorean Hodograph (PH) curve is put forward, which is easy to traced. When the unexpected obstacles are detected, based on the velocity obstacles avoidance method, the collision avoidance trajectory i...

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. Lya...

In this paper, path following control and trajectory tracking control of a mobile robot have been studied. Reference convergence in a path following problem and time convergence in a trajectory tracking problem are considered in the cost function of the nonlinear model predictive control framework. The benefit of path following control is that the path following controller eliminates aggressive...

The set-point tracking of certain process variable trajectories is often needed for the lower level control in batch processes so as to achieve desirable final product quality for the higher level control. In order to realize trajectory tracking successfully, process models should be known in advance. In fact, process models play an essential role in trajectory tracking. Due to the difficulty f...

This paper constructs a relationship between attitude and translational movement of a quadrotor, and presents a PD logic tracking control design algorithm capable of not only stabilizing attitude but also tracking a desired trajectory accurately. In contrast to conventional flight control systems, the artificial inner/outer-loop structure is eliminated via using a third-order time optimal track...

This paper addresses the position tracking control problem of an underactuated hovercraft vehicle. A nonlinear Lyapunov-based tracking controller is developed and proved to exponentially stabilize the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be a specially chosen trajectory (e.g., a trimming trajectory). ...

Precise trajectory tracking is a crucial property for Micro Air Vehicles (MAVs) to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for MAV trajectory tracking. A classical Linear Model Predictive Controller (LMPC) is presented and compared against a more advanced Nonlinear Model Pr...