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Journal Articles IEEE Transactions on Automatic Control Year : 2013

Bounded Tracking Controllers and Robustness Analysis for UAVs

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.
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Dates and versions

hal-00761331 , version 1 (05-12-2012)

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Aleksandra Gruszka, Michael Malisoff, Frédéric Mazenc. Bounded Tracking Controllers and Robustness Analysis for UAVs. IEEE Transactions on Automatic Control, 2013, 58 (1), pp.180 - 187. ⟨10.1109/TAC.2012.2203056⟩. ⟨hal-00761331⟩
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