Bounded Tracking Controllers and Robustness Analysis for UAVs

被引：17

作者：

Gruszka, Aleksandra ^{[1
]}

Malisoff, Michael ^{[1
]}

Mazenc, Frederic ^{[2
]}

机构：

[1] Louisiana State Univ, Dept Math, Baton Rouge, LA 70803 USA

[2] L2S CNRS Supelec, EPI INRIA DISCO, F-91192 Gif Sur Yvette, France

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2013年 / 58卷 / 01期

基金：

美国国家科学基金会;

关键词：

Aerospace; input-to-state stability; Lyapunov functions; robustness;

D O I：

10.1109/TAC.2012.2203056

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：180 / 187

页数：9

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