Robust Tracking Control of an Underactuated Quadrotor Aerial-Robot Based on a Parametric Uncertain Model


Lee D., Burg T. C. , Dawson D. M. , Shu D., Xian B., Tatlicioglu E.

IEEE International Conference on Systems, Man and Cybernetics, San-Antonio, Kuzey Mariana Adaları, 11 - 14 Ekim 2009, ss.3187-3188 identifier identifier

  • Cilt numarası:
  • Doi Numarası: 10.1109/icsmc.2009.5346158
  • Basıldığı Şehir: San-Antonio
  • Basıldığı Ülke: Kuzey Mariana Adaları
  • Sayfa Sayıları: ss.3187-3188

Özet

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.