IntroductionĪ ducted-fan UAV is tactically useful for a battlefield. Then the performance of the proposed controller is verified through waypoint navigation simulation under wind disturbance.
In order to reduce the steady-state errors, a linear quadratic tracker with integrator (LQTI) is designed to add an integral term of tracking state in the state vector. Then the control input can be calculated to solve a single Riccati equation, but the steady-state errors might still remain in this control system. To design the LQ tracker, a system matrix is augmented with a tracking error term. Tracking control system based on linear quadratic (LQ) tracker is designed for a ducted-fan unmanned aerial vehicle (UAV) under full flight envelope including hover, transition, and cruise modes.
