The DOI matches its Crossref record; 16 of the 16 references it cites were found in a registry or an index.
Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)
Abstract
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special E uclidean group, and nonlinear output‐tracking controllers are developed to follow (i) an attitude command, and (ii) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be reduced arbitrarily by control system parameters. Numerical examples illustrating complex maneuvers are provided.
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Citations
Cites
Minimum snap trajectory generation and control for quadrotors
Mellinger, D., & Kumar, V. (2011) · 2011 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2011.5980409 · Cited by 2,367
Geometric tracking control of a quadrotor UAV on SE(3)
Lee, T., Leok, M., & McClamroch, N. H. (2010) · 49th IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc.2010.5717652 · Cited by 1,376
Self-citationBackstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
Bouabdallah, S., & Siegwart, R. (2006) · Proceedings of the 2005 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2005.1570447 · Cited by 1,038
Attitude stabilization of a VTOL quadrotor aircraft
Tayebi, A., & McGilvray, S. (2006) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2006.872519 · Cited by 1,023
Trajectory generation and control for precise aggressive maneuvers with quadrotors
Mellinger, D., Michael, N., & Kumar, V. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364911434236 · Cited by 884
Bhat, S. P., & Bernstein, D. S. (2000) · Systems & Control Letters · doi:10.1016/s0167-6911(99)00090-0 · Cited by 883
An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter
Raffo, G. V., Ortega, M. G., & Rubio, F. R. (2010) · Automatica · doi:10.1016/j.automatica.2009.10.018 · Cited by 792
Chaturvedi, N. A., Sanyal, A. K., & McClamroch, N. H. (2011) · IEEE Control Systems · doi:10.1109/mcs.2011.940459 · Cited by 736
Self-citationModelling and control of a large quadrotor robot
Pounds, P., Mahony, R. E., & Corke, P. (2010) · Control Engineering Practice · doi:10.1016/j.conengprac.2010.02.008 · Cited by 543
Maneuver-based motion planning for nonlinear systems with symmetries
Frazz, E., Dahleh, M. A., & Feron, E. (2005) · IEEE Transactions on Robotics · doi:10.1109/tro.2005.852260 · Cited by 440
Cited by
Loianno, G., Brunner, C., McGrath, G., & Kumar, V. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2016.2633290 · Cited by 305
Optimization Methods Applied to Motion Planning of Unmanned Aerial Vehicles: A Review
Israr, A., Ali, Z. A., Alkhammash, E. H., & Jussila, J. J. (2022) · Drones · doi:10.3390/drones6050126 · Cited by 61
Metadata
- Authors
- Lee, T., Leok, M., & McClamroch, N. H.
- Venue
- Asian Journal of Control
- Publisher
- Wiley
- Published
- 2012-07-05
- Volume
- 15
- Issue
- 2
- Pages
- 391-408
- ISSN
- 1561-8625 (ISSN-L)
- 1934-6093
- OpenAlex
- W1941749034
- Cited by
- 282
- References
- 16
- FWCI
- 20.40
- Type
- journal article
- Language
- en
- Open access
- closed
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
