Geometric tracking control of a quadrotor UAV on SE(3)

By Taeyoung Lee, Melvin Leok, N. Harris McClamroch. 2010

1,480 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Control and Systems Engineering

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Citations in the corpus

Thrust Mixing, Saturation, and Body-Rate Control for Accurate Aggressive Quadrotor Flight (2017, background): “In other stateof-the-art quadrotor controllers [12], [13], the high-level part directly outputs the desired collective thrust and body torques.”
Improving quadrotor trajectory tracking by compensating for aerodynamic effects (2017, methodology): “The controller used is a modification of the controller presented in [11] and [12].”
A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation (2015, background): “nient possibility is to resort to an orientation error term directly defined on SO(3) (as shown in [36] and [37]).”
Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments (2016, methodology): “The nonlinear controller employed to follow differentiable trajectories was developed in [18], and consists of independent calculations for thrust and moments:”
Aerodynamics and Control of Quadrotors (2017, neutral): “Classical drag models (Leishman [2002], Bramwell et al.”
Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers (2014, background): “Recently, the dynamics of a quadrotor UAV is globally expressed on the special Euclidean group, SE(3), and nonlinear control systems are developed to track outputs of several flight modes [29].”
Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments (2017, background): “Thus, Φi(t), d dt Φi(t), d2 dt2 Φi(t), d3 dt3 Φi(t) indicate the desired position, velocity, acceleration and jerk at time t, which are the input for the non-linear controller [15] to calculate desired force and momentum for controlling the quadrotor.”
Minimum snap trajectory generation and control for quadrotors (2011, background): “Proofs of stability and convergence are presented for a similar controller in [16] but with (a) the addition of feedforward terms including the angular acceleration; (b) the inclusion of feedback terms cancelling the ω × Iω in (8); (c) the assumption that all gain matrices are scalar multiples of…”
FUEL: Fast UAV Exploration Using Incremental Frontier Structure and Hierarchical Planning (2020, methodology): “We use a geometric controller [37] for tracking control of the (x, y, z, ξ) trajectory.”
Nonlinear robust tracking control of a quadrotor UAV on SE(3) (2011, neutral): “By following this geometric approach, the dynamics of a quadrotor UAV is globally expressed on the special Euclidean group, SE(3), and nonlinear control systems are developed to track outputs of several flight modes, namely an attitude controlled flight mode, a position controlled flight mode, and a”
Opportunities and challenges with autonomous micro aerial vehicles (2012, background): “Lee et al. (2010) showed that the two controllers result in a nonlinear controller that explicitly track trajectories in SE( 3).”
Advanced closed loop visual navigation for micro aerial vehicles (2014, methodology): “Lee et al. (2010b) presented a nonlinear controller, performing control in the special Euclidean group SE (3) and thus avoiding singular cases, as would be the case for standard nested control approaches.”
Unmanned Aerial Vehicles in Agriculture: A Review of Perspective of Platform, Control, and Applications (2019, background): “Research on linear and nonlinear controls is continuing [44], [59], [60].”