A Linear Acceleration Control for Precise Trajectory Tracking Flights of a Quadrotor UAV Under High-wind Environments

• DOI: 10.1007/s42405-021-00366-y
• Publication Date: 2021-04-07T09:03:08Z
• Authors: Dasol Lee
• Keywords: Feed forward; Tracking (education)

In this paper, a linear acceleration control algorithm is proposed. The proposed algorithm aims to follow a given linear acceleration command accurately to enable precise trajectory tracking flights especially for a quadrotor unmanned aerial vehicle under high-wind environments. Existing linear acceleration control algorithms are based on feedforward control concept only, however the proposed algorithm improves control performance by additionally considering acceleration error feedback which allows the control algorithm more adaptable and robust to various factors including windy environments, difference of actuator responses, and etc. A rotation matrix method integrates the feedforward and feedback control of the proposed algorithm; therefore, its inner-loop controller can utilize various previously studied control algorithms which track the given rotation matrix command. Conducted simulations under various wind conditions have verified linear acceleration control performance, also the paper discusses several topics to implement the proposed control algorithm.