Trajectory tracking of UAV using robust inventory control techniques

This paper presents a robust inventory control strategy (RICS) for trajectory tracking of unmanned aerial vehicle (UAV). UAV´s are generally operated in highly dynamic environments, which include pressure disturbances, wind factor, etc., in addition to high probability of system model uncertainties. RICS incorporates a sliding mode controller to overcome these model uncertainties and noise inherent in any UAV system. It is assumed that uncertain parameters and disturbances are bounded. This method proves to be more effective than conventional methods like PID controllers and model based predictive controllers (MPC). Another important feature of this strategy is that it is easier to tune the controller in face of changing environment, as is the case with UAV´s.