Application of Online Iterative Learning Tracking Control for Quadrotor UAVs

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="476153.fig.0015a" src="https://static.hindawi.com/articles/isrn/volume-2013/476153/figures/476153.fig.0015a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Tracking errors for <svg height="11.175" id="M330" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 13.5875 11.175" width="13.5875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M775 650l-6 -28q-60 -6 -81.5 -16t-61.5 -54l-175 -191l125 -243q30 -58 48.5 -71t82.5 -19l-5 -28h-275l7 28l35 4q31 4 37 12t-6 34l-108 216q-140 -165 -177 -219q-16 -22 -10.5 -30.5t41.5 -13.5l22 -3l-7 -28h-244l8 28q52 4 75 15.5t67 52.5q48 46 206 231
l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g>
</svg>-<svg height="11.175" id="M331" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 11.6625 11.175" width="11.6625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M667 650l-9 -28q-53 -5 -76 -17t-64 -59q-51 -61 -175 -225q-21 -29 -27 -55l-27 -136q-13 -65 -0.5 -80t83.5 -22l-7 -28h-280l8 28q64 4 81 19t30 83l25 128q6 35 -7 65l-98 231q-17 41 -32.5 52t-68.5 16l8 28h252l-6 -28l-40 -4q-27 -3 -33 -12.5t2 -31.5
q8 -26 43 -107.5t61 -134.5q114 145 174 240q14 24 8 33t-37 13l-34 4l8 28h238z" id="x1D44C"></path></g>
</svg> translation using PD online ILC</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="476153.fig.0015b" src="https://static.hindawi.com/articles/isrn/volume-2013/476153/figures/476153.fig.0015b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Tracking errors for <svg height="11.175" id="M332" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 13.5875 11.175" width="13.5875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M775 650l-6 -28q-60 -6 -81.5 -16t-61.5 -54l-175 -191l125 -243q30 -58 48.5 -71t82.5 -19l-5 -28h-275l7 28l35 4q31 4 37 12t-6 34l-108 216q-140 -165 -177 -219q-16 -22 -10.5 -30.5t41.5 -13.5l22 -3l-7 -28h-244l8 28q52 4 75 15.5t67 52.5q48 46 206 231
l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g>
</svg>-<svg height="11.175" id="M333" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 11.6625 11.175" width="11.6625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M667 650l-9 -28q-53 -5 -76 -17t-64 -59q-51 -61 -175 -225q-21 -29 -27 -55l-27 -136q-13 -65 -0.5 -80t83.5 -22l-7 -28h-280l8 28q64 4 81 19t30 83l25 128q6 35 -7 65l-98 231q-17 41 -32.5 52t-68.5 16l8 28h252l-6 -28l-40 -4q-27 -3 -33 -12.5t2 -31.5
q8 -26 43 -107.5t61 -134.5q114 145 174 240q14 24 8 33t-37 13l-34 4l8 28h238z" id="x1D44C"></path></g>
</svg> translation using SPD online ILC</td></tr></table></td></tr></table>

<table>Tracking errors from iteration to iteration for <svg height="11.175" id="M326" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 13.5875 11.175" width="13.5875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M775 650l-6 -28q-60 -6 -81.5 -16t-61.5 -54l-175 -191l125 -243q30 -58 48.5 -71t82.5 -19l-5 -28h-275l7 28l35 4q31 4 37 12t-6 34l-108 216q-140 -165 -177 -219q-16 -22 -10.5 -30.5t41.5 -13.5l22 -3l-7 -28h-244l8 28q52 4 75 15.5t67 52.5q48 46 206 231
l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g>
</svg>-<svg height="11.175" id="M327" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 11.6625 11.175" width="11.6625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M667 650l-9 -28q-53 -5 -76 -17t-64 -59q-51 -61 -175 -225q-21 -29 -27 -55l-27 -136q-13 -65 -0.5 -80t83.5 -22l-7 -28h-280l8 28q64 4 81 19t30 83l25 128q6 35 -7 65l-98 231q-17 41 -32.5 52t-68.5 16l8 28h252l-6 -28l-40 -4q-27 -3 -33 -12.5t2 -31.5
q8 -26 43 -107.5t61 -134.5q114 145 174 240q14 24 8 33t-37 13l-34 4l8 28h238z" id="x1D44C"></path></g>
</svg> translation (<svg height="11.75" id="M328" style="vertical-align:-0.23206pt" version="1.1" viewbox="0 0 52.1875 11.75" width="52.1875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.4)"><path d="M457 488l-30 -3q-17 148 -131 148q-53 0 -84.5 -34.5t-31.5 -82.5q0 -42 25.5 -72t74.5 -62l33 -22q63 -42 95 -85t32 -102q0 -84 -67 -137t-163 -53q-58 0 -113 22t-70 43l-4 152l27 4q4 -32 15 -62.5t31 -59.5t53.5 -47t76.5 -18q56 0 92 35t36 96q0 39 -25 70t-78 68
l-31 22q-32 23 -53.5 41.5t-45 57t-23.5 77.5q0 82 58 132.5t156 50.5q46 0 101 -17l18.5 -6t17 -6t8.5 -3q-4 -55 0 -147z" id="x1D446"></path></g><g transform="matrix(.017,-0,0,-.017,12.931,11.4)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,27.634,11.4)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g><g transform="matrix(.017,-0,0,-.017,35.794,11.4)"><path d="M241 635q53 0 94 -28.5t63.5 -76t33.5 -102.5t11 -116q0 -58 -11 -112.5t-34 -103.5t-63.5 -78.5t-94.5 -29.5t-95 28t-64.5 75t-34.5 102.5t-11 118.5q0 58 11.5 112.5t34.5 103t64.5 78t95.5 29.5zM238 602q-32 0 -55.5 -25t-35.5 -68t-17.5 -91t-5.5 -105
q0 -76 10 -138.5t37 -107.5t69 -45q32 0 55.5 25t35.5 68.5t17.5 91.5t5.5 105t-5.5 105.5t-18 92t-36 68t-56.5 24.5z" id="x30"></path></g><g transform="matrix(.017,-0,0,-.017,43.953,11.4)"><path d="M241 635q53 0 94 -28.5t63.5 -76t33.5 -102.5t11 -116q0 -58 -11 -112.5t-34 -103.5t-63.5 -78.5t-94.5 -29.5t-95 28t-64.5 75t-34.5 102.5t-11 118.5q0 58 11.5 112.5t34.5 103t64.5 78t95.5 29.5zM238 602q-32 0 -55.5 -25t-35.5 -68t-17.5 -91t-5.5 -105
q0 -76 10 -138.5t37 -107.5t69 -45q32 0 55.5 25t35.5 68.5t17.5 91.5t5.5 105t-5.5 105.5t-18 92t-36 68t-56.5 24.5z" id="x30"></path></g>
</svg> m, <svg height="11.825" id="M329" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 47.1875 11.825" width="47.1875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.55)"><path d="M649 676l-22 -187l-33 -2q3 56 -12 94q-8 20 -31.5 26.5t-86.5 6.5h-74l-90 -491q-4 -23 -6 -36.5t1 -25t7 -16.5t18 -9t27 -5t41 -3l-6 -28h-286l4 28q68 5 84 18.5t28 76.5l94 491h-55q-74 0 -100.5 -6t-41.5 -23q-24 -29 -54 -98l-32 1q32 98 53 188h22q7 -18 15 -22
t37 -4h417q23 0 33.5 5t25.5 21h23z" id="x1D447"></path></g><g transform="matrix(.017,-0,0,-.017,16.092,11.55)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,30.796,11.55)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g><g transform="matrix(.017,-0,0,-.017,38.956,11.55)"><path d="M153 550l-26 -186q79 31 111 31q90 0 141.5 -51t51.5 -119q0 -93 -89 -166q-85 -69 -173 -71q-32 0 -61.5 11.5t-41.5 23.5q-18 17 -17 34q2 16 22 33q14 9 26 -1q61 -50 124 -50q60 0 93 43.5t33 104.5q0 69 -41.5 110t-121.5 41q-53 0 -102 -20l38 305h286l6 -8
l-26 -65h-233z" id="x35"></path></g>
</svg> sec.).</table>

International Scholarly Research Notices

fig15

Figure 15

Figure 15: Application of Online Iterative Learning Tracking Control for Quadrotor UAVs 