Bounded tracking controllers and robustness analysis for UAVs

Authors

Aleksandra Gruszka, Louisiana State University
Michael Malisoff, Louisiana State University
Frédéric Mazenc, Laboratoire des Signaux et Systèmes

Document Type

Article

Publication Date

1-7-2013

Abstract

We study a kinematic model that is suitable for control design for high level formation flight of UAVs. We design controllers that give robust global tracking for a wide class of reference trajectories in the sense of input-to-state stability while satisfying key amplitude and rate constraints on the inputs. We illustrate our work in simulations. © 2012 IEEE.

Publication Source (Journal or Book title)

IEEE Transactions on Automatic Control

First Page

180

Last Page

187

Recommended Citation

Gruszka, A., Malisoff, M., & Mazenc, F. (2013). Bounded tracking controllers and robustness analysis for UAVs. IEEE Transactions on Automatic Control, 58 (1), 180-187. https://doi.org/10.1109/TAC.2012.2203056