Abstract:This paper presents a systematic framework for computing formally guaranteed trajectory tracking error bounds for autonomous helicopters based on Robust Positive Invariant (RPI) sets. The approach establishes a closed-loop translational error dynamics which is cast into polytopic linear parameter-varying form with bounded additive and state-dependent disturbances. Ellipsoidal RPI sets are computed, yielding explicit position error bounds suitable as certified buffer zones in upper-level trajectory planning. Three controller architectures are compared with respect to the conservatism of their error bounds and tracking performance. Simulation results on a nonlinear helicopter model demonstrate that all architectures satisfy the derived bounds, while highlighting trade-offs between performance and the conservatism of the computed invariant set.
From: Philipp Schitz [view email]
[v1]
Mon, 9 Mar 2026 07:35:09 UTC (1,076 KB)
[v2]
Fri, 11 Sep 2026 06:30:01 UTC (1,105 KB)
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