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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.
We study an important class of tracking problems for unmanned air vehicles (UAVs) with input constraints whose controls are the commanded heading angle and velocity. We design controllers that give global tracking control. Two key features are the bounds on our controllers and our proof that the tracking is input-to-state stable with respect to additive uncertainty on the velocity controller, under...
This paper presents sliding mode based lateral control for UAVs using piecewise linear sliding surface. A single linear surface is replaced by piecewise linear sliding surface to ensure the performance during small track errors or divergence and a bounded heading error in the case of large track error, thus avoiding the actuator saturations. Stability of the proposed sliding surface is analyzed with...
This paper presents output tracking control for strict feedback nonlinear systems with time-varying output constraint. A Barrier Lyapunov Function (BLF), which depends explicitly on time, is employed at the outset to prevent the output from violating the time-varying constraint. Specifically, we allow the barrier limit to vary with the desired trajectory in time. Through a change of coordinates for...
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