A simple control scheme for Mini Unmanned Aerial Vehicles

In this paper some results of an ongoing research program on mini UAV control are reported. It is proposed a simple control scheme that can be implemented on a low cost-low weight UAV, with limited feedback information. The control scheme is composed of feedforward term, which generates the trim control commands for the particular mission, and a decoupled feedback controller to stabilize the flight around the trajectory. The performance of the proposed scheme has been evaluated by simulation in various flight conditions