NDLI: Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model

Content Provider	IEEE Xplore Digital Library
Author	DongBin Lee Burg, T.C. Dawson, D.M. Dule Shu Bin Xian Tatlicioglu, E.
Copyright Year	2009
Description	Author affiliation: Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA (DongBin Lee; Burg, T.C.; Dawson, D.M.; Dule Shu) \|\| School of EE & Automation, Department of EEE, TianJin University, TianJin 300072, P.R. China (Bin Xian) \|\| Izmir Institute of Technology, Urla, Izmir 35430, Turkey (Tatlicioglu, E.)
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.
Starting Page	3187
Ending Page	3192
File Size	585819
Page Count	6
File Format	PDF
ISBN	9781424427932
ISSN	1062922X
DOI	10.1109/ICSMC.2009.5346158
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Cybernetics USA Councils Lyapunov stability uncertain robust Quadrotor UAV robot tracking underactuated
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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