This paper develops a trajectory tracking control design algorithm to be applied in unmanned aerial vehicles (UAVs). The strategy is simple but effective and it is based on linear algebra theory. The proposed approach reforms the column space of a system of linear equations at each sampling time to ensure the tracking objective when environmental disturbances appear. This new formulation ensures a uniform signal without affecting the error convergence to zero (demonstration available), which is one of the main contributions of this work. A statistical method is used to tune the system control minimizing a pre-defined cost function. In addition, the convergence to zero of the tracking errors is demonstrated in this work. Finally, the controller’s effectiveness is tested through several simulations in realistic test scenarios in the presence of disturbances.

本文开发了一种轨迹跟踪控制设计算法，该算法将应用于无人机。该策略简单但有效，它基于线性代数理论。所提出的方法在每个采样时间都对线性方程组的列空间进行了改革，以确保在出现环境干扰时能够达到跟踪目标。这种新的形式可确保信号均匀，而不会影响误差收敛到零（可用演示），这是这项工作的主要贡献之一。统计方法用于调整系统控制，以最小化预定义的成本函数。此外，这项工作证明了跟踪误差收敛到零。最后，