Quadrotor Control on SU(2)× R
            3with SLAM Integration

Marcus Greiff; Patrik Persson; Zhiyong Sun; Karl Åström; Anders Robertsson

doi:10.1109/CCTA49430.2022.9966068

Quadrotor Control on SU(2)× R ³with SLAM Integration

Marcus Greiff
, Patrik Persson
, Zhiyong Sun
, Karl Åström
, Anders Robertsson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

528 Downloads (Pure)

Abstract

We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2)xR^3, and relate this result to a family of geometric tracking controllers on SO(3)xR^3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed control system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.

Original language	English
Title of host publication	2022 IEEE Conference on Control Technology and Applications (CCTA)
Publisher	Institute of Electrical and Electronics Engineers
Pages	291-298
Number of pages	8
ISBN (Electronic)	9781665473385
DOIs	https://doi.org/10.1109/CCTA49430.2022.9966068
Publication status	Published - 8 Dec 2022
Event	6th IEEE Conference on Control Technology and Applications, CCTA 2022 - Trieste, Italy Duration: 22 Aug 2022 → 25 Aug 2022

Conference

Conference	6th IEEE Conference on Control Technology and Applications, CCTA 2022
Country/Territory	Italy
City	Trieste
Period	22/08/22 → 25/08/22

Keywords

Aerospace applications
Nonlinear systems
Localization

Access to Document

10.1109/CCTA49430.2022.9966068

arXiv 2110.01099v1Final author version , 9.51 MB

Cite this

@inproceedings{5a1d7b5ecaaf44cca57043756d5bfd50,

title = "Quadrotor Control on SU(2)× R 3with SLAM Integration",

abstract = "We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2)xR\textasciicircum{}3, and relate this result to a family of geometric tracking controllers on SO(3)xR\textasciicircum{}3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed control system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.",

keywords = "eess.SY, cs.SY, Aerospace applications, Nonlinear systems, Localization",

author = "Marcus Greiff and Patrik Persson and Zhiyong Sun and Karl {\AA}str{\"o}m and Anders Robertsson",

year = "2022",

month = dec,

day = "8",

doi = "10.1109/CCTA49430.2022.9966068",

language = "English",

pages = "291--298",

booktitle = "2022 IEEE Conference on Control Technology and Applications (CCTA)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "6th IEEE Conference on Control Technology and Applications, CCTA 2022 ; Conference date: 22-08-2022 Through 25-08-2022",

}

Greiff, M, Persson, P, Sun, Z, Åström, K & Robertsson, A 2022, Quadrotor Control on SU(2)× R ³with SLAM Integration. in 2022 IEEE Conference on Control Technology and Applications (CCTA)., 9966068, Institute of Electrical and Electronics Engineers, pp. 291-298, 6th IEEE Conference on Control Technology and Applications, CCTA 2022, Trieste, Italy, 22/08/22. https://doi.org/10.1109/CCTA49430.2022.9966068

TY - GEN

T1 - Quadrotor Control on SU(2)× R 3with SLAM Integration

AU - Greiff, Marcus

AU - Persson, Patrik

AU - Sun, Zhiyong

AU - Åström, Karl

AU - Robertsson, Anders

PY - 2022/12/8

Y1 - 2022/12/8

N2 - We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2)xR^3, and relate this result to a family of geometric tracking controllers on SO(3)xR^3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed control system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.

AB - We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2)xR^3, and relate this result to a family of geometric tracking controllers on SO(3)xR^3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed control system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.

KW - eess.SY

KW - cs.SY

KW - Aerospace applications

KW - Nonlinear systems

KW - Localization

UR - https://www.scopus.com/pages/publications/85144592093

U2 - 10.1109/CCTA49430.2022.9966068

DO - 10.1109/CCTA49430.2022.9966068

M3 - Conference contribution

SP - 291

EP - 298

BT - 2022 IEEE Conference on Control Technology and Applications (CCTA)

PB - Institute of Electrical and Electronics Engineers

T2 - 6th IEEE Conference on Control Technology and Applications, CCTA 2022

Y2 - 22 August 2022 through 25 August 2022

ER -