Quadcopter path following control design using output feedback with command generator tracker based on LOS

Abstract

The development of quadcopter technology has much increasing, such as in military and law enforcement agencies, for surveillance, reconnaissance and rescue mission. Also in scientific sides, it is used for mapping the condition of wind speed, detecting radiation sources, maintenance and survey. Quadcopter is a system that still have problem, which is stability, and because of that it can easily get interference from outside. This characteristic leads to the difficulties in automatic controlling the following path and set the heading of Quadcopter. Based on this problem, this paper provides the design of following path control on the horizontal plane by adding Line Of Sight algorithm so it will produce the smallest error possible. The result of the simulation show that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean ±0.07 meters.