Adaptive tracking control method for nonlinear trajectory

For flight trajectory tracking accuracy and quality problem of small unmanned aerial vehicle (SUAV), an adaptive tracking control method for nonlinear trajectory was proposed. Waypoints were fitted utilizing five-order B-spline to built nonlinear desired trajectory. The location and crossing heading error equations were established within the Serret-Frenet coordinates. The asymptotically stable convergence adaptive crossing heading law was designed based on the error formulations. The flight experimental results show that the proposed adaptive tracking control method are effective and can improve the tracking accuracy.