Tracking control for a flat system under disturbances: a fixed-wing UAV example. Issue 16 (2022)

• Record Type: Journal Article
• Authors: Do, Huu Thinh; Nicolau, Florentina; Stoican, Florin; Prodan, Ionela
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 16(2022)
• Page Start: 406
• Page End: 411
• Publication Date: 2022
• Subjects: Trajectory tracking -- Unmanned Aerial Vehicle -- Differential flatness -- Disturbance rejection -- Extended state observer -- Set invariance; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.09.058
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper considers a class of systems admitting several flat representations and proposes a trajectory tracking controller design which accounts for disturbance rejection. Set invariance is used for characterizing the tracking and estimation error dynamics. Furthermore, some insights on the disturbance propagation in case of different flat representations for a fixed-wing Unmanned Aerial Vehicle (UAV) system are highlighted via simulations and comparisons.