Pedro Albertos, Pablo del Río, Cui Wei, Angel Cuenca
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Abstract
In this paper, linear algebra based (LAB) control methodology is proposed as a feasible technique for tracking control of drones. The method introduces a straightforward mathematical procedure, which leads to a low computational cost implementation. A comprehensive analysis of LAB control applied to drone trajectory tracking, including detailed mathematical derivations, stability analysis, and practical implementation considerations is provided. Moreover, compared to one of the most popular non-linear control techniques, that is, feedback linearization (FL), LAB is able to reach satisfactory tracking and energy saving even under the consideration of complex trajectories (with sudden changes). The paper addresses key implementation challenges including sampling period selection, control parameter tuning methodologies, and actuator saturation handling. Extensive simulation results demonstrate the effectiveness of the proposed approach and its advantages over traditional FL method.
期刊介绍：
IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces.
Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed.
Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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