Trajectory Tracking for UAVs: An Interpolating Control Approach
<|reference_start|>Trajectory Tracking for UAVs: An Interpolating Control Approach: Building on our previous work, this paper investigates the effectiveness of interpolating control (IC) for real-time trajectory tracking. Unlike prior studies that focused on trajectory tracking itself or UAV stabilization control in simulation, we evaluate the performance of a modified extended IC (eIC) controller compared to Model Predictive Control (MPC) through both simulated and laboratory experiments with a remotely controlled UAV.   The evaluation focuses on the computational efficiency and control quality of real-time UAV trajectory tracking compared to previous IC applications. The results demonstrate that the eIC controller achieves competitive performance compared to MPC while significantly reducing computational complexity, making it a promising alternative for resource-constrained platforms.<|reference_end|>
@article{bouček2024trajectory,
    title={Trajectory Tracking for UAVs: An Interpolating Control Approach},
    author={Zdenv{e}k Bouv{c}ek, Miroslav Fl'idr, and Ondv{r}ej Straka},
    journal={arXiv preprint arXiv:2407.01095},
    year={2024},
    doi={10.1109/MMAR62187.2024.10680744},
    archivePrefix={arXiv},
    eprint={2407.01095},
    primaryClass={eess.SY cs.RO cs.SY}
}