Tracking Control of UAVs with Uncertainty and Input Constraints

Authors

Shihab Ahmed, The University of Texas Rio Grande Valley
Wenjie Dong, The University of Texas Rio Grande Valley

Document Type

Conference Proceeding

Publication Date

6-2022

Abstract

This paper considers the position and attitude tracking control problem of a vertical take-off and landing unmanned aerial vehicle with uncertainty and input constraints. Considering the parametric and non-parametric uncertainties in the dynamics of systems, a robust adaptive tracking controller is proposed with the aid of the special structure of the dynamics of the system. Considering the uncertainty and input constraints, a robust adaptive saturation controller is proposed with the aid of an auxiliary compensated system. Simulation results show the effectiveness of the proposed algorithms.

Comments

Proceedings of the American Control Conference

Original published version available at 10.23919/ACC53348.2022.9867463

Recommended Citation

Ahmed, Shihab, and Wenjie Dong. "Tracking Control of UAVs with Uncertainty and Input Constraints." In 2022 American Control Conference (ACC), pp. 1182-1187. IEEE, 2022. https://doi.org/10.23919/ACC53348.2022.9867463

Publication Title

2022 American Control Conference (ACC)

DOI

10.23919/ACC53348.2022.9867463