Serret-Frenet Frame-based Path Tracking Stabilization of a Powered Paraglider Type UAV with Input Constraints

This paper presents a practical Serret-Frenet frame-based path tracking control approach for a powered paraglider (PPG) type unmanned aerial vehicle (UAV) with input constraints. In this paper, two new attempts are achieved from real UAV control points of view. The first attempt is to consider a real control input constraint but not the kinematic model input constraint that is considered in most cases. This paper realizes it by investigating the relationship between the yaw angular velocity in a kinematics model and the steering angle of the real direction bar. The second attempt is to describe the PPG model considering the above relationship by a new type of T-S fuzzy models with a residual term and to propose a new type of fuzzy controllers with a cancellation term for the residual term. By the cancellation via the T-S fuzzy controller, the overall feedback system is reduced to the ordinary T-S fuzzy control system. As a result, we simply apply an LMI-based design framework to the T-S fuzzy model with the residual term. Finally, this paper demonstrates the utility of the proposed approach through flight control simulations for complicated paths.