PD control of VTOL aircraft trajectory tracking based on double-loop design

In this design, a VTOL aircraft system is used as the controlled object. Aiming at trajectory tracking problem of its position and attitude output, control method based on double closed-loop PD adopted to design. The decomposed into track subsystem roll subsystem. At same time, structure outer loop inner constructed, controller feedforward compensation designed. pole assignment set select parameters. stability ensured by engineering making reaction speed greater than that loop. Then, MATLAB software simulate whether can given trajectory. Simulation results show simplifies design process makes certain arbitrary outputs with three state soon possible, thus meeting needs underactuated for tracking.