Conference PaperTracking Control of UAVs with Uncertainty and Input ConstraintsAhmed, Shihab; Dong, WenjieThis 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.IEEE2022-06-08105914691182 to 1187978-1-6654-5196-3https://doi.org/10.23919/ACC53348.2022.98674632112650Atlanta, GA, USANational Science Foundation