Filtered Output Feedback Tracking Control of a Quadrotor UAV

Erjen Lefeber, Marcus Greiff, Anders Robertsson

Research output: Book/ReportReportAcademic

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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 languageEnglish
Publication statusPublished - 9 May 2020

Publication series

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

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