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arXiv · 2407.01095

Trajectory Tracking for UAVs: An Interpolating Control Approach

Zdeněk Bouček·Miroslav Flídr·Ondřej Straka
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Abstract

Building on our previous work, this paper investigates the effectiveness of interpolating control (IC) for real-time trajectory tracking. Unlike prior studies that focused on trajectory tracking itself or UAV stabilization control in simulation, we evaluate the performance of a modified extended IC (eIC) controller compared to Model Predictive Control (MPC) through both simulated and laboratory experiments with a remotely controlled UAV. The evaluation focuses on the computational efficiency and control quality of real-time UAV trajectory tracking compared to previous IC applications. The results demonstrate that the eIC controller achieves competitive performance compared to MPC while significantly reducing computational complexity, making it a promising alternative for resource-constrained platforms.

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Zdeněk Bouček, Miroslav Flídr, Ondřej Straka. 2024-07-01. Trajectory Tracking for UAVs: An Interpolating Control Approach. https://doi.org/10.1109/mmar62187.2024.10680744

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