Nonlinear robust tracking control of a quadrotor UAV on SE(3)

By Taeyoung Lee, Melvin Leok, N. Harris McClamroch. American Control Conference, 2011

320 citations recorded by the source corpus.

This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear output-tracking controllers are developed to follow (1) an attitude command, and (2) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be arbitrarily reduced by control system parameters. Numerical examples illustrating complex maneuvers are provided.

Subfields: Aerospace Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/40ece6c806de825dc6e860efef062f35e65083e4

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In Aerospace Engineering

In Control and Systems Engineering

Citations in the corpus

The Trajectory Tracking Problem of Quadrotor UAV: Global Stability Analysis and Control Design Based on the Cascade Theory (2014, methodology): “In [22], the nonlinear tracking control method for a quadrotor UAV with bounded uncertainties is discussed and a global uniformly ultimately bounded result is obtained.”
Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU (2017, background): “…model is ẋ = v,mv̇ = Rτe3 −mge3 , Ṙ = RΩ̂,JΩ̇ + Ω × JΩ = M , (1) 1www.ros.org where x ∈ R3 is the Cartesian position of the vehicle expressed in the inertial frame, v ∈ R3 is the velocity of the vehicle in the inertial frame, m ∈ R is the mass, Ω ∈ R3 is the angular velocity and J ∈ R3×3 is…”
Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers (2014, methodology): “The nonlinear robust tracking control system in [16, 17] provides ultimate boundedness of tracking errors, and the control input may be prone to chattering if the required ultimate bound is smaller.”