Bounded Tracking Controllers and Robustness Analysis for UAVs

Aleksandra Gruszka 1 Michael Malisoff 2 Frederic Mazenc 3, 4
3 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 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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Submitted on : Wednesday, December 5, 2012 - 12:23:52 PM
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Aleksandra Gruszka, Michael Malisoff, Frederic Mazenc. Bounded Tracking Controllers and Robustness Analysis for UAVs. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2013, 58 (1), pp.180 - 187. ⟨10.1109/TAC.2012.2203056⟩. ⟨hal-00761331⟩



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