Trajectory tracking controller design for an unmanned air vehicle

This paper presents a complete trajectory tracking controller design for an Unmanned Air Vehicle using Linear Parameter Varying design methods. The longitudinal and lateral controllers are designed using an inner loop outer loop structure with the inner loop LPV controller designed using μ-synthesis. The inner-loop is then approximated with a reference model and the outer loop is designed using loop-shaping techniques. Full scale nonlinear simulations are used to test the efficiency of the designed controller and of the proposed design approach.