Abstract
A natural way to control fully actuated UAVs is the use of feedback linearization. Indeed, given a sufficiently good knowledge of UAV mechanical properties, the resulting closed-loop system is linear and well-suited for further developments (e.g. impedance-based control for physical interactions). In the presence of actuator saturation, however, feedback linearization can lead to undesired and sometimes even unstable behaviors. To overcome this problem, this paper introduces a novel Explicit Reference Governor scheme which is particularly well suited for closed-loop systems with linear dynamics and nonlinear state and input constraints. The advantages of the proposed scheme are illustrated using numerical simulations.
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