Three Dimensional Trajectory Tracking for Unmanned Aerial Vehicles in Time-Varying Winds

In this paper, a control law for three dimensional trajectory tracking for unmanned aerial vehicles is developed. The control law is based on back stepping method. The parameters of the control law are tuned by genetic algorithm. Simulations show that the effectiveness of the control law and the parameter tuning method. The proposed control law has good performance in the presence of time-varying wind disturbances. The parameter tuning method obtains good parameters without trial-and-errors.