Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)

被引：222
作者：
Lee, Taeyoung [1 ]
Leok, Melvin [2 ]
McClamroch, N. Harris [3 ]
机构：
[1] George Washington Univ, Washington, DC 20052 USA
[2] Univ Calif San Diego, La Jolla, CA 92093 USA
[3] Univ Michigan, Ann Arbor, MI 48109 USA
来源：
ASIAN JOURNAL OF CONTROL | 2013年 / 15卷 / 02期
基金：
美国国家科学基金会;
关键词：
Quadrotor UAV; geometric Control; special Euclidean group; SYSTEMS; STABILIZATION; ROTORCRAFT;
D O I：
10.1002/asjc.567
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：391 / 408
页数：18
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