3D TRAJECTORY TRACKING FOR A FIXED WING UNMANNED AERIAL VEHICLE USING DYNAMIC INVERSION

In this paper we present a dynamic inversion based control technique for an autonomous aerial vehicle for the trajectory tracking problem. Our approach takes account of the model nonlinearities. The adopted scheme subdivides the vehicle dynamics into two scales of time: fast and slow. This is justified by the difference between the dynamic of the angular velocity and that of UAV airspeed and attitude (pitch, roll and yaw). Our controller uses two control loops: stabilization-tracking loop which controls the angular velocity the sideslip, pitch and roll angles. And a guidance loop which controls the vehicle altitude and heading. This approach was validated on IBISC UAV model developed in our laboratory.