Tracking and robustness analysis for UAVs with bounded feedbacks

We study an important class of tracking problems for unmanned air vehicles (UAVs) with input constraints whose controls are the commanded heading angle and velocity. We design controllers that give global tracking control. Two key features are the bounds on our controllers and our proof that the tracking is input-to-state stable with respect to additive uncertainty on the velocity controller, under a restriction on the perturbation that respects the constraints. We allow a wide class of reference trajectories that satisfy a nondegeneracy condition on the reference velocity. We illustrate our work in simulations.