This paper investigates the use of 2 / HH ¥ robust controller in tracking trajectories for Unmanned Aerial Vehicles (UAVs). First, a trajectory is generated offline by solving a trajectory optimization problem, which incorporates the mission constraints and the dynamic model of the UAV. Next, a controller is designed using the 2 / HH ¥ robust control method to track the reference trajectory on-line while preserving the mission constraints. The control design process involves two steps: a convenient system identification and systematic robust controller design. Simulation results show effectiveness of the proposed controller in comparison with the optimal preview controller, which has gained more popularity recently in navigation of UAVs to track a reference path despite wind disturbances and measurement noises.
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