Abstract
This work proposes a solution method for tracking procedures for Unmanned Aerial Vehicles (UAVs). The proposed controller is based on the dynamics of the error obtained from the kinematic model of the UAV, i.e., on linearized error behavior during the tracking task. For the correction of the trajectory tracking error, an optimal controller is used that provides a gain to compensate the errors and disturbances during the task proposed by using LQR algorithm. The experimental results are presented with several weight options in the proposed functional cost for analysis the UAV behavior.
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Acknowledgments
The authors would like to thanks to the Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia –CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA-XIII-2019-08; Sistema Colaborativo de Robots Aéreos para Manipular Cargas con Óptimo Consumo de Recursos; also to Universidad de las Fuerzas Armadas ESPE, Grupo de Investigación ARSI, and finally to Instituto de Automática de la Universidad Nacional de San Juan for the support and the theoric knowledge provided for the execution of this work.
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Carvajal, C.P., Andaluz, V.H., Roberti, F., Carelli, R. (2020). Optimal Trajectory Tracking Control for a UAV Based on Linearized Dynamic Error. In: Fujita, H., Fournier-Viger, P., Ali, M., Sasaki, J. (eds) Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices. IEA/AIE 2020. Lecture Notes in Computer Science(), vol 12144. Springer, Cham. https://doi.org/10.1007/978-3-030-55789-8_8
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