Advanced trajectory tracking for UAVs using combined feedforward/feedback control design

Trajectory tracking is a major challenge for UAVs. The more complex the trajectory is, the more accurate tracking is required with minimum divergence from the trajectory. Apart from active trajectory tracking mechanisms, current solutions to accurate trajectory tracking in narrow areas require low speed motions. This paper presents a systematic design methodology using centralised feedforward/feedback control architecture for advanced trajectory tracking without compromising the speed of the vehicle. Using the ℋ∞ norm as a measure for the design criteria, the proposed method proves fast tracking with no overshooting and less actuators energy compared with single degree-of-freedom feedback control method. The results are verified using simulations for two systems: a tri-rotor VTOL UAV (fully actuated system), and a quadrotor trainer (over-actuated system).