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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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.

Originele taal-2	Engels
Plaats van productie	Eindhoven
Uitgeverij	Technische Universiteit Eindhoven
Aantal pagina's	21
Status	Gepubliceerd - jul. 2020

Publicatie series

Naam	DC Reports
Uitgeverij	Eindhoven University of Technology, Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven, The Netherlands
Nr.	DC 2020.053

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Filtered Output Feedback Tracking Control of a Quadrotor UAV

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