A robust explicit reference governor for constrained control of Unmanned Aerial Vehicles

This paper presents a novel control strategy for an Unmanned Aerial Vehicle subject to state and input constraints. The method consists in pre-stabilizing the system dynamics and then using an Explicit Reference Governor to ensure constraint satisfaction by suitably manipulating the applied reference. The control scheme is initially designed under some simplifying assumptions and is then tuned to ensure robustness even when these assumptions are dropped. The effectiveness of the proposed method is validated numerically.