Design And Simulation Of Trajectory Tracking Control For Unmanned Aerial Vehicle

The main content of this paper is to design the UAV’s autonomous flight controlsystem, according to the UAV’s control requirements. According to linear systemtheory and automatic control theory，the eigenvalue and open-loop response curve areachieved，which makes preparation for the design of autonomous flight controlsystem. From the respects of the inner-loop and the outer-loop, the basic structure ofthe UAV’s autonomous flight control system is conducted, using the control methodof Artificial Neural Network Inverse System. According to this structure, theinner-loop attitude control system and the track control system are designed. Errorcompensation system based on Neural Network is developed according to thecharacteristics of model Tracking Error. Besides, online learning algorithm based onneural network is given. Finally, implementing the VS programming language, theUAV’s autonomous flight control and simulation software is developed. Within thesimulation environment, the correctness and rationality is validated, and thesimulation experiment of typical flight task is performed reference to the flight qualitystandard.The simulation results of the typical Mission-Task-Elements and autonomousflight demonstrates that the exact trajectory tracking control could be achieved andcan meet the requirements of the autonomous flight well.