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This paper presents a robust control scheme for the tracking control of singularly perturbed uncertain systems. The design problem is divided into two parts: tracking the reference trajectory and enhancing the robustness of the dynamic systems. By using the time-scale techniques, dynamic inversion approach and linear parameter-varying methods, a set of singularly perturbed state feedback controllers...
Complex nonlinearity and strong coupling in the pitch-yaw-roll of a rotorcraft make it difficult for the attitude control of unmanned aerial vehicles, especially in the presence of wind disturbances and plant uncertainties. To confront these problems, this paper presents a control scheme of two sequential steps, structural parameter determination and robust controller design, in order to achieve the...
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