Robust Tracking Control of an Underactuated Aerial-Robot based on a Parametric Uncertain Model
ORCiD
Dongbin Lee: 0000-0002-5307-0374
Document Type
Conference Proceeding
Department
Electrical and Computer Engineering
Conference Title
2009 IEEE International Conference on Systems, Man and Cybernetics
Location
San Antonio, TX
Conference Dates
11-14 October 2009
Date of Presentation
10-1-2009
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.
Publisher
IEEE
ISBN
978-1-4244-2793-2
ISSN
1062-922X
DOI
10.1109/ICSMC.2009.5346158
Recommended Citation
Lee, D.,
Burg, T. C.,
Dawson, D. M.,
Shu, D.,
Xian, B.,
&
Tatlicioglu, E.
(2009).
Robust Tracking Control of an Underactuated Aerial-Robot based on a Parametric Uncertain Model.
Paper presented at 2009 IEEE International Conference on Systems, Man and Cybernetics in San Antonio, TX.
https://scholarlycommons.pacific.edu/soecs-facpres/626
