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Bounded Tracking Controllers and Robustness Analysis for UAVs

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3 Author(s)
Gruszka, A. ; Dept. of Math., Louisiana State Univ., Baton Rouge, LA, USA ; Malisoff, M. ; Mazenc, F.

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.

Published in:

Automatic Control, IEEE Transactions on  (Volume:58 ,  Issue: 1 )