Abstract:
In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control...Show MoreMetadata
Abstract:
In this paper, the tracking control of a underactuated quadrotor aerial vehicle is presented where position and yaw trajectory tracking is achieved using feedback control system. The control design is complicated by considering parametric uncertainty in the dynamic modeling of the quadrotor aerial-robot. Robust control schemes are then designed using a Lyapunov-based approach to compensate for the unknown parameters in each dynamic subsystem model. Lyapunov-type stability analysis suggests a global uniform ultimately bounded (GUUB) tracking result.
Date of Conference: 11-14 October 2009
Date Added to IEEE Xplore: 04 December 2009
ISBN Information:
Print ISSN: 1062-922X