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Tracking Controllers for Single and Group of Unmanned Aerial Vehicles Under Various Wind Conditions

Ilan Zohar, Amit Ailon, Hugo Guterman

Abstract


This study presents simple controllers for trajectory tracking of the kinematic model of an Unmanned Aerial Vehicle (UAV). We consider the effects of wind perturbations on an UAV in flight, and consider the applications of an existing controller with a wind compensation term while the control objective is to track a time-varying trajectory which is given in terms of the inertial coordinate system. Application of the approach to UAVs flying in a string-like formation in the presence of additive wind perturbations is also considered. Numerical and simulation results are demonstrated.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2012.v8.754

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