Trajectory tracking is extremely difficult for rotorcrafts based on the nonlinear model and taking into account all the parameters of the system and especially considering the effects of flapping and the main rotor and its control tail in all directions. This paper describes the tracking route, based on nonlinear model and velocity control and feedback mode and Polytopic linear parameter varying (LPV) modeling with the help of solving linear matrix inequalities (LMI) equations for different conditions and complex maneuvers for an unmanned rotorcraft that has been examined in all directions including, longitudinal, altitudinal, latitudinal directions. Based on the different operating points of the system and the different flight conditions, first a Polytopic modeling of the system is performed, and then the control signal is generated based on the state feedback and solution of the linear matrix inequalities (LMI) equations. The final control signal consists of feedback of changes of the state variables around the nominal trajectory under the designed feedback gains, in addition to the nominal control signal for the desired trajectory. In calculating the nominal control signal for the optimum trajectory, the Polytopic system model is used instead of the nonlinear system model. Therefore, the final control signal does not require a dynamic system model and all control calculations are performed using a Polytopic system model and have high computational speed. System simulation shows the capabilities of the proposed control system in different operating conditions.

基于非线性模型的旋翼飞行器轨迹跟踪极其困难，同时考虑了系统的所有参数，特别是考虑了襟翼和主旋翼及其控制尾翼在各个方向上的影响。本文描述了基于非线性模型和速度控制和反馈模式以及多面体线性参数变化 (LPV) 建模的跟踪路线，并借助求解线性矩阵不等式 (LMI) 方程来求解不同条件和复杂机动的无人驾驶旋翼飞行器。在所有方向上进行了检查，包括纵向、高度、纬度方向。根据系统的不同工作点和不同的飞行条件，首先对系统进行Polytopic建模，然后基于状态反馈和线性矩阵不等式（LMI）方程的解生成控制信号。最终控制信号包括在设计的反馈增益下围绕标称轨迹的状态变量变化的反馈，以及所需轨迹的标称控制信号。在计算最优轨迹的标称控制信号时，使用多面体系统模型代替非线性系统模型。因此，最终控制信号不需要动态系统模型，所有控制计算均使用多面体系统模型进行，计算速度快。系统仿真显示了所提出的控制系统在不同操作条件下的能力。