Tracking Control With Zero Steady State for UAV Flight Platform

Abstract

Consider one controller design problem for UAV flight control system, while guaranteeing the closed loop output track one expected output, this new paper derives this optimal controller through our own mathematical theories. After introducing the practical UAV flight control and formulating this practical problem into one closed loop control problem, the concept about tracking control with zero steady state is defined. Then from two aspects of tracking mission, two optimal controllers are yielded through solving two different optimization problems. Although their forms are different, we establish the equivalent properties between them together. Moreover, the detailed algorithm if designing the tracking controller within the case of zero steady state is shown. Finally, a platform about the practical UAV flight system is constructed to do some simulations so that our theoretical analysis is proven.

Keywords

• Tracking control
• zero steady state
• UAV
• optimal controller
• equivalence