Linear Algebra Based Tracking Control of a Drone

ABSTRACT In this paper, linear algebra based (LAB) control methodology is proposed as a feasible technique for tracking control of drones. The method introduces a straightforward mathematical procedure, which leads to a low computational cost implementation. A comprehensive analysis of LAB control applied to drone trajectory tracking, including detailed mathematical derivations, stability analysis, and practical implementation considerations is provided. Moreover, compared to one of the most popular non‐linear control techniques, that is, feedback linearization (FL), LAB is able to reach satisfactory tracking and energy saving even under the consideration of complex trajectories (with sudden changes). The paper addresses key implementation challenges including sampling period selection, control parameter tuning methodologies, and actuator saturation handling. Extensive simulation results demonstrate the effectiveness of the proposed approach and its advantages over traditional FL method.