Title :
Bounded Tracking Controllers and Robustness Analysis for UAVs
Author :
Gruszka, A. ; Malisoff, Michael ; Mazenc, F.
Author_Institution :
Dept. of Math., Louisiana State Univ., Baton Rouge, LA, USA
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.
Keywords :
aerospace control; autonomous aerial vehicles; control system synthesis; input-output stability; path planning; robot kinematics; robust control; UAVs; bounded tracking controllers; control design; high level formation flight; input-to-state stability; kinematic model; rate constraints; robust global tracking; robustness analysis; Actuators; Lyapunov methods; Space vehicles; Standards; Tracking loops; Trajectory; Uncertainty; Aerospace; Lyapunov functions; input-to-state stability; robustness;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2012.2203056
