Simplified Path Tracking Control Laws for Quad-rotor Considered as Nonholonomic System

摘要

The problem of the quad-rotor guidance system based on the control of the quad-rotor instantaneous velocity vector with simultaneous its stabilization on the given reference track is considered in this paper. One of the ultimate goals of this paper is the elaboration of the guidance control system with simplified structure at the cost of some attenuation of system's accuracy. That is why structure of this guidance system is based on the combination of the PD and LQR approaches. Two structures of guidance system were proposed: the circular path following system and linear piecewise path following system. The results of design were proved by simulation of these guidance systems during flights in the calm and perturbed atmosphere.