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Nonlinear Robust Tracking Control of a Quadrotor UAV on SE (3)
Author(s) -
Lee Taeyoung,
Leok Melvin,
McClamroch N. Harris
Publication year - 2013
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.567
Subject(s) - bounded function , nonlinear system , control theory (sociology) , tracking (education) , robust control , control (management) , engineering , position (finance) , upper and lower bounds , computer science , control engineering , mathematics , artificial intelligence , physics , psychology , mathematical analysis , pedagogy , finance , quantum mechanics , economics
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 E uclidean 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.