Bounded tracking controllers and robustness analysis for UAVs
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. © 2012 IEEE.
Publication Source (Journal or Book title)
IEEE Transactions on Automatic Control
Gruszka, A., Malisoff, M., & Mazenc, F. (2013). Bounded tracking controllers and robustness analysis for UAVs. IEEE Transactions on Automatic Control, 58 (1), 180-187. https://doi.org/10.1109/TAC.2012.2203056