Showing papers by "Indrani Kar published in 2020"
TL;DR: In this article, a finite time disturbance observer based geometric controller for quadrotors utilizing the rotation matrices for attitude dynamics is proposed, where the closed loop errors are bounded before the disturbance has been estimated by the finite-time disturbance observer.
9 citations
10 Dec 2020
TL;DR: In this article, an adaptive critic is used to approximate the Hamilton-Jacobi-Bellman (HJB) equation associated with the nominal augmented system, and the Lyapunov approach is employed to show robust trajectory tracking performance of the event-triggered controller.
Abstract: This work presents a novel event-triggered robust tracking control method for nonlinear continuous-time systems with matched uncertainties using an adaptive critic. An augmented system is formulated to convert the event-triggered robust tracking control problem into an event-triggered optimal control problem. The solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the nominal augmented system is approximated using an adaptive critic. The Lyapunov approach is employed to show the robust trajectory tracking performance of the event-triggered controller. The asymptotic stability of the closed-loop system, as well as uniform ultimate boundedness of the critic weight approximation error, is guaranteed. A simulation study is conducted to establish the efficacy of the theoretical findings.
6 citations
3 citations
TL;DR: In this article, the authors presented geometric tracking control law for a quadrotor UAV on SE(3) using left tracking error function as compared to right tracking error functions reported in the literature.
3 citations
TL;DR: A finite-time geometric control of quadrotor has been proposed by representing the attitude using rotation matrices to avoid the singularities and ambiguities associated with Euler angles and quaternions.
Abstract: A finite-time geometric control of quadrotor has been proposed in this paper by representing the attitude using rotation matrices to avoid the singularities and ambiguities associated with Euler an...