Bounded Tracking Controllers and Robustness Analysis for UAVs

Aleksandra Gruszka 1 Michael Malisoff 2 Frederic Mazenc 3, 4
1 LSU Mathematics - Department of Mathematics [Baton Rouge]
2 Department of Mathematics
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
4 L2S - Laboratoire des signaux et systèmes
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.
Type de document :
Article dans une revue
IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2013, 58 (1), pp.180 - 187. 〈10.1109/TAC.2012.2203056〉
Liste complète des métadonnées
https://hal.inria.fr/hal-00761331
Contributeur : Frederic Mazenc <>
Soumis le : mercredi 5 décembre 2012 - 12:23:52
Dernière modification le : jeudi 5 avril 2018 - 12:30:13

Identifiants

Collections

INRIA | L2S | SUPELEC | SUP_SYSTEMES | SUP_LSS

Citation

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〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

525

Contact


archive-ouverte@inria.fr