Performance comparison of SISO and MIMO low level controllers in a special trajectory tracking application

This paper deals with the problem of low level aircraft controller design for monocular vision based sense and avoid tasks. According to a previous work the generated trajectory should be tracked through the yaw rate, meanwhile roll angle should be held around zero to provide acceptable effective field of view for the camera. SISO PID and MIMO LQ controllers are designed for the Aerosonde UAV to track yaw rate and roll angle. Their performance is compared in linear and nonlinear simulations without and with trajectory tracking respectively. Finally, the MIMO LQ method proves to be more suitable for the task.