Multi-dimensional Taylor Network Optimal Tracking Control for Quadrotor Unmanned Aerial Vehicle

摘要: This paper focuses on the problem of multi-dimensional Taylor network (MTN) optimal tracking control for quadrotor unmanned aerial vehicle (UAV). The UAV is a typical nonlinear and under-actuated system with input constraints. Differential equations are derived from physical modeling set simulation parameters provided. Then MTN controller designed based idea PID attitude trajectory control. And proposed method does not require precise model. Finally, optimized under simplex method. Experiment results show that can guarantee stability closed-loop system, it has good performance desired output.