A Novel Formula Calculating the Dynamic State Error and Its Application in UAV Tracking Control Problem

TL;DR

This paper introduces the Copenhagen Limit, a new analytical formula for estimating dynamic state error without feedforward signals, and demonstrates its application in UAV trajectory tracking control.

Contribution

The paper presents a novel analytical formula, Copenhagen Limit, for dynamic error estimation and applies it to UAV control, enhancing tracking accuracy.

Findings

Copenhagen Limit accurately estimates dynamic state error.

Application of Copenhagen Limit improves UAV trajectory tracking.

Numerical examples validate the effectiveness of the proposed method.

Abstract

This paper gives a novel formula (Copenhagen Limit) to calculate/estimate the dynamic state error of a system without a feedforward signal. Copenhagen Limit is in the form of a limit and finds the dynamic error in an analytical solution. It can be used to design the controller in a tracking control problem. A numerical example is displayed to illustrate the accuracy of the Copenhagen Limit. Besides, the controller of a UAV (quadrotor) is designed using the Copenhagen Limit in a trajectory-tracking problem. The result of it is also demonstrated and analyzed.