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

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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
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

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DC_Report_2020.053Final published version, 667 KB

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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.",

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Filtered Output Feedback Tracking Control of a Quadrotor UAV

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