Cooperative Control Technique for Quadrotor UAV Trajectory Tracking

Recently, the quadrotor Unmanned Aerial Vehicle UAV has been developed to be useful in variety of applications in both military and civil. Control of this type of vehicles still the main problem faced the researchers. In this paper, two cooperative controllers were implemented to control the UAV pose (3D trajectory tracking) in two loops. The first controller is the Proportional Derivative PD controller which used to stabilize the UAV (attitude control or control the orientation angles) in the inner loop. The second controller is the Linear Quadratic Regulator LQR controller which used to control the position of the UAV in the outer loop. Controlling the x and y axes in the first loop were used in the second loop to control their angles. These two controllers were designed based on the UAV linearized model about the hovering condition taking into account the dynamic model constraints and external disturbances. Simulation results shows that the proposed control strategy control the UAV effectively and overcome the dynamic model constraints and external disturbances in terms of small mean square error.