This paper focuses on designing control systems for the regulation of unmanned aerial vehicles (UAVs) along real-time trajectories. The reference trajectories will be generated in real-time from a library of pre-specified motion primitives. Two control approaches will be studied. The first is a hybrid control approach, in which we account for all possible connections between compatible library primitives by adding corresponding coupling conditions into the control synthesis program. The switching between primitives in this case takes place with stability and performance guarantees, but at the expense of added computational complexity. The second approach is a decoupled control approach, where the plant associated with each primitive is regarded as a system with an uncertain initial state. This approach is less computationally intensive than the hybrid approach, but comes with no theoretically established stability guarantees across switching boundaries. The two approaches are applied to regulate a nonlinear mathematical model of a 6 foot Telemaster fixed-wing UAV along a real-time trajectory in the presence of model uncertainties and atmospheric disturbances.

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