Filtered Output Feedback Tracking Control of a Quadrotor UAV

Erjen Lefeber; Marcus Greiff; Anders Robertsson

Filtered Output Feedback Tracking Control of a Quadrotor UAV

Erjen Lefeber, Marcus Greiff, Anders Robertsson

Dynamics and Control

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Abstract

We present a tracking controller for quadrotor UAVs which uses partial state information and filters measurement noise. We show uniform almost global and locally exponential asymptotic stability of the resulting closed-loop system, which implies robustness against bounded disturbances. We illustrate the performance of the controller by means of several numerical examples, including a complex looping maneuver.

Original language	English
Publication status	Published - 9 May 2020

Publication series

Name	DC Reports
Publisher	Eindhoven University of Technology, Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven, The Netherlands
No.	DC 2020.053

Access to Document

DC_Report_2020.053Final author version , 667 KB

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