UAV robust navigation via geodesic path planning and nonlinear mixed H2/H∞ control strategy

A robust navigation strategy is proposed for Unmanned Aerial Vehicles (UAVs) with parameter perturbations and external disturbances. The dynamic model of a UAV is derived from Euler-Lagrange equations. With the help of path planning algorithm, we are able to find the shortest path for UAVs to traverse on a 3D surface. Meanwhile, to solve the tracking problem, we deploy a mixed H₂/H_∞ controller to stabilize the motion of a UAV, degrade the influence of interior perturbations and attenuate external disturbances. In the end, the simulation results show that the UAV successfully follows the reference geodesic trajectory. This attests the robustness and the reliability of the proposed strategy.