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 |
---|---|
Place of Publication | Eindhoven |
Publisher | Technische Universiteit Eindhoven |
Number of pages | 21 |
Publication status | Published - Jul 2020 |
Publication series
Name | DC Reports |
---|---|
Volume | DC 2020.053 |