Robust Tracking Control of an Underactuated Quadrotor Aerial-Robot Based on a Parametric Uncertain Model
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Abstract
In 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
Description
IEEE International Conference on Systems, Man and Cybernetics, SMC 2009; San Antonio, TX; United States; 11 October 2009 through 14 October 2009
Keywords
System stability, Lyapunov stability, Quadrotor UAV, Robots, Robust control, System stability, Lyapunov stability, Robust control, Robots, Quadrotor UAV
Fields of Science
0209 industrial biotechnology, 02 engineering and technology
Citation
Lee, D., Burg, T. C., Dawson, D. M., Shu, D., Xian, B., and Tatlıcıoğlu, E. (2009, October 11-14). Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model. Paper presenred at the IEEE International Conference on Systems, Man and Cybernetics, SMC 2009. doi:10.1109/ICSMC.2009.5346158
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32
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3187
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