Pole Placement Control Technique for Tracking Path Control of UAV by Longitudinal and Lateral Parameters Control

Abstract

Unmanned Aerial Vehicle (UAV) is an autonomous flight and to obtained desired flight path and trajectory, it is necessary to control its various parameters. This paper presents a flight path control of fixed wing UAV by the control of Lateral and Longitudinal parameters using MATLAB platform. In this paper, simple mathematical model of 6 degrees of freedom (DOF) UAV having three linear and three rotational motions is presented. For simplicity and to obtained desired path and trajectory control, mathematical model of fixed wing 6 DOF UAV is divided into two subsystems. One subsystem is used to control Longitudinal Parameter such as vehicle speed and height without any change in direction of motion while the other sub system is used for the control of lateral parameters such as control of angular speed along x-axis, for yaw and roll control and control of angular speed along z-axis. Both sub-systems are Multi Input Multi Output (MIMO) in nature, the desired input output combinations are extracted for the effective control of UAV. In this paper open loop behaviour of these system are plotted and analysed. It has been observed that open loop systems are not able to follow the desired trajectory. Further, these sub-systems are controlled by Pole Placement technique so that the vehicle can follow the desired path. The implementation and simulation of pole placement controllers on UAV is done using MATLAB software.