Some comments on the constrained trajectory generation for UAV systems

This paper presents a trajectory generation procedure for unmanned vehicles (UAVs) which makes use of the flat-output representation of the UAV model to derive the desired reference trajectory. Furthermore, a corrective mechanism whose goal is to minimize the trajectory tracking error in the presence of bounded disturbances is implemented. Exploiting the flat description of the relevant states/inputs and a B-spline parametrization of the flat output, sufficient formulations for input and state magnitude constraints which involve only the B-splines' control points are given. The theoretical results are illustrated over a UAV model in simulation.