Complicated Path Generation and Stabilization Control for an Unmanned Aerial Vehicle

Abstract

This paper presents a new approach to complicated path generation and stabilization control for an unmanned aerial vehicle (UAV). UAVs are complicated, nonlinear, and unstable systems. Even if the control system is designed by considering the longitudinal and lateral dynamics separately, the coupling between them cannot be ignored. Therefore, it is extremely difficult to design a control system that can follow complicated paths without tracking errors. This paper proposes a control-theoretic approach to complicated path generation and stabilization control, and demonstrates the effectiveness of the proposed approach through flight experiments on a real UAV. The experimental results show that the proposed approach provides excellent control results for a number of complicated paths.