Tracking and Robustness Analysis for UAVs with Bounded Feedbacks.

Aleksandra Gruszka 1 Frederic Mazenc 2, 3 M. Malisoff 1
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
Abstract : We study an important class of tracking problems for unmanned air vehicles (UAVs) with input constraints. The states give the position with respect to an inertial coordinate system, the heading angle, and the inertial velocity. The controls are the commanded heading angle and inertial velocity. We design controllers that give global tracking control. Two key features are the bounds on our controllers and our proof that the tracking is input-to-state stable with respect to additive actuator errors on the velocity controller, under a restriction on the perturbation that respects airspeed constraints. We allow a wide class of reference trajectories that satisfy a nondegeneracy condition on a weighted sum of the reference velocity and reference acceleration. We illustrate our work in simulations.
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https://hal.inria.fr/hal-00761286
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Submitted on : Wednesday, December 5, 2012 - 11:17:23 AM
Last modification on : Friday, April 27, 2018 - 2:42:02 PM

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Aleksandra Gruszka, Frederic Mazenc, M. Malisoff. Tracking and Robustness Analysis for UAVs with Bounded Feedbacks.. ACC 2012 - American Control Conference, Jun 2012, Montreal, Canada. pp.932-937, ⟨10.1109/ACC.2012.6315330⟩. ⟨hal-00761286⟩

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