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

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