Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers-Reference-Cited by-同舟云学术

Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers

Published:2015-06-08 Issue:9 Volume:137 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Goodarzi Farhad A.¹,Lee Daewon¹,Lee Taeyoung²

Affiliation:

1. Department of Mechanical and Aerospace Engineering, George Washington University, Washington, DC 20052 e-mail:

2. Assistant Professor Department of Mechanical and Aerospace Engineering, George Washington University, Washington, DC 20052 e-mail:

Abstract

This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude dynamics, a geometric nonlinear adaptive controller is developed directly on the special Euclidean group. In particular, a new form of an adaptive control term is proposed to guarantee stability while compensating the effects of uncertainties in quadrotor dynamics. A rigorous mathematical stability proof is given. The desirable features are illustrated by numerical example and experimental results of aggressive maneuvers.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4030419/6120427/ds_137_09_091007.pdf

Reference42 articles.

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3. Geometric Control of a Quadrotor UAV Transporting a Payload Connected Via Flexible Cable;Int. J. Control Autom. Syst.,2015

4. Goodarzi, F. A., and Lee, T., 2015, “Dynamics and Control of Quadrotor UAVs Transporting a Rigid Body Connected Via Flexible Cables,” The 2015 American Control Conference, Chicago, IL.

5. Cabecinhas, D., Cunha, R., and Silvestre, C., 2009, “Rotorcraft Path Following Control for Extended Flight Envelope Coverage,” 48th IEEE Conference on Decision and Control, 2009 Held Jointly With the 2009 28th Chinese Control Conference, CDC/CCC 2009, China, Shanghai, Dec. 15–18, pp. 3460–3465.10.1109/CDC.2009.5400665

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