An Optimal FASA Approach for UAV Trajectory Tracking Control

In this paper, a fully actuated system approach (FASA)-based control scheme is proposed for the trajectory tracking of a quadrotor unmanned aerial vehicle (UAV). System uncertainty, external disturbance and actuator constraint are all considered, which make the problem challenging. Inspired by the active disturbance rejection control (ADRC), tracking differentiator (TD) and extended state observer (ESO) are introduced for handling the uncertainties and generating the feedback signals. With the proposed feedback control law, the performance of the resulted closed loop system is related to its eigenstructure - eigenvalue and eigenvectors. Based on a type of control parametrization method, the parametrized eigenstructure of the closed loop system are optimized. A better performance is observed by comparative numerical simulation.