Optimal tracking control system design for a ring-wing type UAV

This paper proposes an optimal tracking control law for a ring-wing type unmanned aerial vehicle (RWUAV) under full flight envelope including hover, transition and cruise modes. A system matrix is augmented with a tracking error term, and then state feedback gain is calculated by using a single Riccati equation. In order to reduce error, an integral term is augmented in the state vector. The performance of proposed controller is verified through three-dimensional waypoint simulation.