Robust Path-following Control with Anti-Windup for HALE Aircraft

Research output: Contribution to book/conference proceedings/anthology/reportConference contributionInvitedpeer-review



In this paper, a robust path-tracking controller for a High Altitude Long Endurance (HALE) aircraft is presented. The main control paradigm for operating a HALE aircraft consists of a basic path following control, i.e. tracking a reference flight path and airspeed while dealing with very limited thrust. The priority lies in keeping airspeed inside the small flight envelope of HALE aircraft even during saturated thrust. For the basic path following objective, a mixed sensitivity approach is proposed which can easily deal with decoupled tracking and robustness requirements. To deal with saturated control inputs, an anti-windup scheme is incorporated in the control design. A novel observer-based mixed sensitivity design is used which allows directly using classical anti-windup methods based on back-calculation. The control design is verified in nonlinear simulation and compared to a classical total energy control based controller.


Original languageEnglish
Title of host publication2022 30th Mediterranean Conference on Control and Automation (MED)
PublisherIEEE Xplore
Number of pages6
ISBN (Electronic)9781665406734
ISBN (Print)978-1-6654-0674-1
Publication statusPublished - 1 Jul 2022


Title2022 30th Mediterranean Conference on Control and Automation (MED)
Duration28 June - 1 July 2022
LocationVouliagmeni, Greece

External IDs

Scopus 85136315310



  • State feedback, Sensitivity, Systematics, Control design, Windup, Atmospheric modeling, Aircraft