Tracking flight control of UAV based on multiple regions pole assignment method

This paper presents a tracking control problem for an unmanned aerial vehicle (UAV) using a multiple regions pole assignment method. To obtain the UAV control gains under the regional pole assignment method, the traditional robust control approach is to construct a closed-loop system and a specific linear matrix inequality (LMI) region in a complex plane, all poles in the system are configured in this specific region by solving LMI. Since the given LMI region is fixed with a large scale, further constraints on the LMI region can make poles configuring in a more appropriate position to obtain better control effects. Hence, based on the UAV tracking control problem, a multiple regions pole assignment method is proposed in this paper. By designing multiple LMI regions and a novel solving algorithm for pole assignment, the optimized tracking control scheme can be obtained. A practical example of quadrotor UAV tracking is given to illustrate the effectiveness of the proposed method.