Almost global tracking control of a quadrotor UAV on SE(3)

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

6 Citaten (Scopus)
13 Downloads (Pure)

Samenvatting

In this paper we present a controller which achieves uniform almost global asymptotic stability of the tracking error dynamics for a quadrotor on SE(3). By considering the tracking control of a quadrotor UAV on SE(3) we avoid singularities of Euler angles and ambiguity of quaternions and by explicitly taking into account the constraint of non-zero total thrust in our controller design, we do not achieve a local result but almost global asymptotic stability of the tracking controller. Second, we consider the position tracking error in the body-frame of the reference UAV. As a result, contrary to most existing tracking controllers, our control action becomes independent of the definition of the inertial frame. We illustrate by simulations that even in the presence of small disturbances and sampled, delayed, and noisy measurements the controller achieves stable tracking error dynamics for which errors converge to some region near the origin.

Originele taal-2Engels
Titel2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's1175-1180
Aantal pagina's6
Volume2018-January
ISBN van elektronische versie978-1-5090-2873-3
ISBN van geprinte versie978-1-5090-2874-0
DOI's
StatusGepubliceerd - 18 jan 2018
Evenement56th IEEE Conference on Decision and Control (CDC 2017), 12-15 December 2017, Melbourne, Australia - Melbourne, Australië
Duur: 12 dec 201715 dec 2017
Congresnummer: 56
http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=8253407

Congres

Congres56th IEEE Conference on Decision and Control (CDC 2017), 12-15 December 2017, Melbourne, Australia
Verkorte titelCDC 2017
LandAustralië
StadMelbourne
Periode12/12/1715/12/17
Internet adres

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  • Citeer dit

    Lefeber, A. A. J., van den Eijnden, S. J. A. M., & Nijmeijer, H. (2018). Almost global tracking control of a quadrotor UAV on SE(3). In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (Vol. 2018-January, blz. 1175-1180). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CDC.2017.8263815