Robust Tracking Control of an Underactuated Quadrotor Aerial-Robot Based on a Parametric Uncertain Model
| dc.contributor.author | Lee, Dongbin | |
| dc.contributor.author | Burg, Timothy C. | |
| dc.contributor.author | Dawson, Darren M. | |
| dc.contributor.author | Shu, Dule | |
| dc.contributor.author | Xian, Bin | |
| dc.contributor.author | Tatlıcıoğlu, Enver | |
| dc.coverage.doi | 10.1109/ICSMC.2009.5346158 | |
| dc.date.accessioned | 2016-11-15T13:45:20Z | |
| dc.date.available | 2016-11-15T13:45:20Z | |
| dc.date.issued | 2009 | |
| dc.description | IEEE International Conference on Systems, Man and Cybernetics, SMC 2009; San Antonio, TX; United States; 11 October 2009 through 14 October 2009 | en_US |
| dc.description.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 | en_US |
| dc.identifier.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 | en_US |
| dc.identifier.doi | 10.1109/ICSMC.2009.5346158 | |
| dc.identifier.doi | 10.1109/ICSMC.2009.5346158 | en_US |
| dc.identifier.issn | 1062-922X | |
| dc.identifier.scopus | 2-s2.0-74849133454 | |
| dc.identifier.uri | http://doi.org/10.1109/ICSMC.2009.5346158 | |
| dc.identifier.uri | https://hdl.handle.net/11147/2447 | |
| dc.language.iso | en | en_US |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
| dc.relation.ispartof | IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | System stability | en_US |
| dc.subject | Lyapunov stability | en_US |
| dc.subject | Quadrotor UAV | en_US |
| dc.subject | Robots | en_US |
| dc.subject | Robust control | en_US |
| dc.title | Robust Tracking Control of an Underactuated Quadrotor Aerial-Robot Based on a Parametric Uncertain Model | en_US |
| dc.type | Conference Object | en_US |
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| gdc.author.institutional | Tatlıcıoğlu, Enver | |
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| gdc.description.department | İzmir Institute of Technology. Electrical and Electronics Engineering | en_US |
| gdc.description.endpage | 3192 | en_US |
| gdc.description.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q4 | |
| gdc.description.startpage | 3187 | en_US |
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| gdc.oaire.keywords | System stability | |
| gdc.oaire.keywords | Lyapunov stability | |
| gdc.oaire.keywords | Robust control | |
| gdc.oaire.keywords | Robots | |
| gdc.oaire.keywords | Quadrotor UAV | |
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