Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)
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In this paper, a nonlinear tracking control system for a quadrotor unmanned aerial vehicle (UAV) that is robust to bounded uncertainties is presented. But the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be reduced arbitrarily by control system parameters.Abstract:
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 (i) an attitude command, and (ii) 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 reduced arbitrarily by control system parameters. Numerical examples illustrating complex maneuvers are provided.read more
Citations
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Adaptive trajectory tracking control of output constrained multi-rotors systems
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References
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Minimum snap trajectory generation and control for quadrotors
Daniel Mellinger,Vijay Kumar +1 more
TL;DR: An algorithm is developed that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs.
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Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
TL;DR: The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
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Attitude stabilization of a VTOL quadrotor aircraft
Abdelhamid Tayebi,S. McGilvray +1 more
TL;DR: A new quaternion-based feedback control scheme for exponential attitude stabilization of a four-rotor vertical takeoff and landing aerial robot known as a quadrotor aircraft is proposed and the model-independent PD controller, without compensation of the Coriolis and gyroscopic torques, provides asymptotic stability for the problem.
Journal ArticleDOI
Trajectory generation and control for precise aggressive maneuvers with quadrotors
TL;DR: It is shown that this approach permits the development of trajectories and controllers enabling such aggressive maneuvers as flying through narrow, vertical gaps and perching on inverted surfaces with high precision and repeatability.