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A simple approach has been established for solving suboptimal control problems in unmanned aerial vehicles with bounded inputs. The approach is based on trajectory parametrization for the constrained aerial vehicle control. The proposed framework for synthesizing the control algorithms employs the concept of polynomial controllability and the flatness property of the underlying physical model. In this framework the method of accomplishing the minimization is based on tools from the nonlinear dynamic programming theory, which can easily be implemented in real time computations.