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This paper considers the problem of constrained nonlinear trajectory tracking control for unmanned air vehicles (UAVs). We assume that the UAV is equipped with longitudinal and lateral autopilots which reduces the twelve degree-of-freedom (DOF) model to a six DOF model with altitude, heading, and velocity command inputs. One of the novel features of our approach is that we explicitly account for heading rate and velocity input constraints. For a UAV, the velocity is constrained to lie betweendoi:10.1109/tcst.2004.826956 fatcat:rwt4x6zxe5frposzsdfhz2dqtu