If the aerial vehicle like blimp or quadrotor is required to track the 3D position coordinates then how we will generate the reference trajectory for the vehicle? What will be the reference roll angle, pitch angle, and yaw angle for tracking the desired spatial position coordinates?
For optimal control, the problem formulation is simple like you can select the position states as your outputs and the rest of the states will act as an internal state. Your system will be three outputs and multi inputs. While for SMC you will need the desired position, attitude, and their successive derivatives.
Your suggestions are valuable to me...
Dear Mohammad Wasim,
I suggest you to see links and attached file on topic.
https://www.researchgate.net/publication/233981519_Trajectory_Tracking_for_Unmanned_Aerial_Vehicles_with_Autopilot_in_the_Loop
https://www.semanticscholar.org/paper/Model-Predictive-Trajectory-Tracking-and-Collision-B%C3%A1%C4%8Da-He%C5%99t/02c3f486a63486e66feaae1fc872eb30dbe3e3c4
Article Trajectory-Driven Adaptive Control of Autonomous Unmanned Ae...
Article An Optimization Problem for Quadcopter Reference Flight Traj...
Article Trajectory tracking control of a VTOL unmanned aerial vehicl...
Article Trajectory planning of unmanned aerial vehicle based on the ...
Chapter Advanced UAV Trajectory Generation: Planning and Guidance
Best regards
Theory:
1-Path planning problem: We can use a global path planner algorithm such as RRT, RRT* or A*. Input of path planner module: Initial position and final position of the vehicle.Output: list of reference waypoints in the form of (x,y,z) triples.
2-Trajectory generation problem: This aims to generate a dynamically feasible smooth trajectory that passes through the previously obtaiNed waypoints. Input: waypoints. Output: continuous polynomial representing the trajectory (time-parametrised path). You can use for instance B-spline algorithm.
3-Control problem (flight control system, trajectory tracking control): Let consider a quad rotor aircraft for instance. We should design a position tracking controller and an attitude stabilization controller as follows:
3.1-Position tracking controller (besides velocity controller): input: generated trajectory. Output: reference attitude angles.
3.2-Attitude stabilization controller (besides angular rate controller): input: reference attitude angles. Output: motor control signals (low level control).
Practice:
A commercially available autopilot such as PIXHAWK can be be connected to another companion computer like RASPBERRY PI or JETSON NANO. Path planning, trajectory generator, position controller can be implemented in ROS framework in the companion controller. PIXHAWK autopilot can be used for the low level control including attitude stabilization.
I suggest you read the simulation part of the below paper:
Conference Paper Position and Attitude Control of Underactuated Drones Using ...
Also, in the below paper, we used the BBO and PSO to make the drone follow the 3D desired path.
Preprint Evolutionary Algorithms for Multi-Objective Optimization of ...
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