Building on our previous work, this paper investigates the effectiveness of interpolating control (IC) for real-time trajectory tracking. Unlike prior studies that focused on trajectory tracking itself or UAV stabilization control in simulation, we evaluate the performance of a modified extended IC (eIC) controller compared to Model Predictive Control (MPC) through both simulated and laboratory experiments with a remotely controlled UAV. The evaluation focuses on the computational efficiency and control quality of real-time UAV trajectory tracking compared to previous IC applications. The results demonstrate that the eIC controller achieves competitive performance compared to MPC while significantly reducing computational complexity, making it a promising alternative for resource-constrained platforms.

翻译：基于我们先前的研究，本文探讨了插值控制（IC）在实时轨迹跟踪中的有效性。与以往专注于轨迹跟踪本身或无人机仿真中稳定控制的研究不同，我们通过仿真和实验室遥控无人机实验，将改进的扩展IC（eIC）控制器与模型预测控制（MPC）的性能进行了比较评估。该评估重点关注实时无人机轨迹跟踪相较于先前IC应用的计算效率与控制质量。结果表明，eIC控制器在显著降低计算复杂度的同时，实现了与MPC相竞争的性能，使其成为资源受限平台的一个有前景的替代方案。