Two-step system identification for control of small UAVs along pre-specified trajectories

This paper presents an approach for regulating a small unmanned aerial vehicle (UAV) about a reference trajectory that is obtained using a model of the aircraft derived from flight test data. Stepwise multiple regression is applied to determine relevant explanatory variables in the aerodynamic coefficient models. The aircraft model is used to obtain a dynamically feasible reference trajectory as the solution of an optimal control problem, solved using pseudospectral optimal control software. A discrete-time feedback controller is then designed to regulate the aircraft along the reference trajectory. Simulations in a realistic operational environment demonstrate the capabilities of the approach.