Tracking Control of UAVs with Uncertainty and Input Constraints
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.
Ahmed, Shihab, and Wenjie Dong. "Tracking Control of UAVs with Uncertainty and Input Constraints." 2022 American Control Conference (ACC). IEEE, 2022.
2022 American Control Conference (ACC)
Original published version available at 10.23919/ACC53348.2022.9867463