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Tracking Control of UAVs with Uncertainty and Input Constraints

Ahmed, Shihab ; Dong, Wenjie ( June 2022 , Proceedings of the American Control Conference)

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.
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