TY - GEN
T1 - Trajectory tracking for UAVs with bounded inputs and some related applications
AU - Ailon, Amit
N1 - Funding Information:
⋆ This research was supported in part by the Paul Ivanir Center for Robotics Research and Production Management, Ben Gurion University of the Negev, Beer Sheva, Israel.
PY - 2009/12/1
Y1 - 2009/12/1
N2 - This study presents simple controllers for achieving trajectory tracking for the kinematic model of an Unmanned Aerial Vehicle (UAV) with bounded inputs. The proposed controllers are based on smooth bounded functions that can easily be implemented. The underlying stabilizing controller can be applied in control tasks of a group of UAVs. Relevant aspects concerning control strategies for formation flying missions are considered, and some results are demonstrated by means of numerical results.
AB - This study presents simple controllers for achieving trajectory tracking for the kinematic model of an Unmanned Aerial Vehicle (UAV) with bounded inputs. The proposed controllers are based on smooth bounded functions that can easily be implemented. The underlying stabilizing controller can be applied in control tasks of a group of UAVs. Relevant aspects concerning control strategies for formation flying missions are considered, and some results are demonstrated by means of numerical results.
KW - Bounded inputs
KW - Rigid formation control
KW - String-like formation
KW - Trajectory tracking
KW - Unmanned aerial vehicle
UR - http://www.scopus.com/inward/record.url?scp=80051503660&partnerID=8YFLogxK
U2 - 10.3182/20090616-3-IL-2002.0018
DO - 10.3182/20090616-3-IL-2002.0018
M3 - Conference contribution
AN - SCOPUS:80051503660
SN - 9783902661456
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 355
EP - 360
BT - ROCOND'09 - 6th IFAC Symposium on Robust Control Design, Proceedings
T2 - 6th IFAC Symposium on Robust Control Design, ROCOND'09
Y2 - 16 June 2009 through 18 June 2009
ER -