Abstract:

A robust trajectory linearization control method and its application to unmanned aerial vehicle (UAV) path following are proposed. Considering that the conventional trajectory linearization control method lacks enough robustness to the system uncertainties, an improved single hidden layer adaptive neural network is developed to compensate the system uncertainties, then the boundedness of the tracking error is proved by Lyapunov theory. Finally, the proposed method is applied to the UAV three dimension path following problem. Simulation results show that the designed controller can still make the UAV track the desired path well even if there exist 20% uncertainties in the parameters, thus the effectiveness of the method is validated.