Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/11
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Conference Object Citation - WoS: 25Citation - Scopus: 48Robust Tracking Control of an Underactuated Quadrotor Aerial-Robot Based on a Parametric Uncertain Model(Institute of Electrical and Electronics Engineers Inc., 2009) Lee, Dongbin; Burg, Timothy C.; Dawson, Darren M.; Shu, Dule; Xian, Bin; Tatlıcıoğlu, EnverIn this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic subsystem model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking result