Geometric Model Free Trajectory Tracking Control on SE(3)

被引：1

作者：

Zhao, C. ^{[1
]}

Burlion, L. ^{[1
]}

机构：

[1] Rutgers State Univ, Dept Mech & Aerosp Engn, Piscataway, NJ 08854 USA

来源：

IFAC PAPERSONLINE | 2022年 / 55卷 / 22期

关键词：

UAV dynamics; control; guidance and navigation; model-free control; trajectory tracking;

D O I：

10.1016/j.ifacol.2023.03.065

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 presents a novel geometric controller that enables a quadrotor to track a reference trajectory under windy conditions. Our controller exploits the robustness properties of model-free control on the special Euclidean group. A strict Lyapunov analysis is presented to show the almost globally exponential stability. Our numerical simulations illustrate the effectiveness of our proposed method. We illustrate how our method outperforms a geometric nonlinear PID controller and a geometric neural network based adaptive controller.

引用

页码：387 / 393

页数：7

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