On the Four-Dimensional Trajectory Control of UAV

In order to improve the ability to execute the task of UAV, a 4D trajectory control system is designed based on the research of 3D trajectory control and the speed control. First, according to the structure diagram of 4D trajectory control, the plane trajectory controller and height controller are designed. For plane trajectory control, the design method of linear trajectory control is analyzed. In terms of height control, a method of calculating the height control quantity is given. Then, the speed controller is designed. A new method of controlling the throttle and the calculation of the speed control quantity is proposed. Aiming at two kinds of cases that UAV can't reach the target on time when executing the task, the trajectory control methods that the UAV goes to the target in advance and goes to the target after circling are designed respectively. The simulation results show that the 4D trajectory control system designed in this paper can realize the 4D trajectory control of UAV.