Trajectory generation and tracking for phugoid maneuvers using a mini-airplane

In this work, the problem for trajectory generation and tracking for phugoid maneuvers using a fixed-wing aerial vehicle is studied. The goal of using this kind of trajectories is to reduce the kinetic energy produced by the aerial vehicle during forward flight. In our study, the phugoid trajectory contains a recovery phase for safely continue to fly the aerial vehicle. In order to track the phugoid trajectory, separate controllers generated by using Lyapunov Analysis are proposed. Several simulations are carried out to validate experimentally the proposed theory, using several tools such as Gazebo, QGroundControl, PX4, and ROS (Robot Operating System).