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.
@article{arxiv.2407.01095,
title = {Trajectory Tracking for UAVs: An Interpolating Control Approach},
author = {Zdeněk Bouček and Miroslav Flídr and Ondřej Straka},
journal= {arXiv preprint arXiv:2407.01095},
year = {2024}
}