Genetically tuned LQR based path following for UAVs under wind disturbance
Sarthak R. Kukreti, Manish Kumar, Kelly De Oliveira Cohen · 2016
An Unmanned aerial vehicle (UAV) guidance law is addressed as an optimal regulator (LQR) problem. An adaptive optimal path following nomenclature is derived and defined. The state weighting matrix of the LQR is defined in term of intrinsic parameter error thereby enabling the guidance law to regulate the UAV disturbance errors effectively. The state weighing matrix is tuned using a genetic algorithm based search. Simulations are carried out for straight line and loiter paths under various wind conditions. The genetically tuned results show low position errors for path following for UAVs and the guidance law is effective in minimizing the effect of wind disturbances.