PD Control Scheme with Region Formulation for Slow Time-Varying Tracking Control of an Unmanned Aerial Vehicle

This paper aims to investigate whether simple proportional and derivative (PD) controller works for slow time-varying tracking control an under- actuated vehicle. The control scheme that consists of PD controller and also region formulation has been proposed for a quadrotor aerial vehicle due to the advantages of simplicity and ease of implementation. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the under-actuated vehicle.