Haniyeh Rashidi Fathabadi - MSc Student, Department of Aerospace Engineering,Sharif University of Technology, Tehran, Iran
Afshin Banazadeh - Assistant Professor, Department of Aerospace Engineering,Sharif University of Technology, Tehran, Iran
Nima Assadian - Assistant Professor, Department of Aerospace Engineering,Sharif University of Technology, Tehran, Iran

The problem of trajectory planning for a quadrotoraircraft equipped with an onboard gripper is considered in thispaper. Linear Quadratic Tracking Control is utilized to solvethe optimal trajectory planning problem. This linear controlleris used here to control the nonlinear system. This method is ageneralized form of LQR control in which the desired finalvalue of state vector is not the origin. Here, a set of differentialRiccati equations and a set of differential tracking equationsare solved. The effectiveness of the proposed approach is shownby means of simulation as well as by comparison of thebehavior of the quadrotor and the natural maneuvers performedby haunting birds when grasping a prey. Finally, it is shownthat the air vehicle is able to grasp the target with minimumcontrol effort.

Trajectory tracking, LQR, Riccati equations,grasping phase, quadrotor.