Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model
Conference paper > Full Text · 2009
Authors: Dong Bin Lee, Timothy C. Burg, Darren M. Dawson, Dule Shu, Bin Xian, Enver TATLICIOĞLU
IEEE International Conference on Systems, Man, and Cybernetics, United States, San Antonio, TX, International, Verbal, Full Text, 2009-2009, pp 3187-3192
DOI: 10.1109/ICSMC.2009.5346158
Summary
In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic subsystem model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking result. ©2009 IEEE.