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

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