Trajectory tracking for UAVs with bounded inputs and some related applications

This study presents simple controllers for achieving trajectory tracking for the kinematic model of an Unmanned Aerial Vehicle (UAV) with bounded inputs. The proposed controllers are based on smooth bounded functions that can easily be implemented. The underlying stabilizing controller can be applied in control tasks of a group of UAVs. Relevant aspects concerning control strategies for formation flying missions are considered, and some results are demonstrated by means of numerical results.