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Geometric tracking control of a quadrotor UAV on SE(3)
Open accessAbstract
This paper provides new results for the tracking control of a quadrotor unmanned aerial vehicle (UAV). The UAV has four input degrees of freedom, namely the magnitudes of the four rotor thrusts, that are used to control the six translational and rotational degrees of freedom, and to achieve asymptotic tracking of four outputs, namely, three position variables for the vehicle center of mass and the direction of one vehicle body-fixed axis. A globally defined model of the quadrotor UAV rigid body dynamics is introduced as a basis for the analysis. A nonlinear tracking controller is developed on the special Euclidean group SE(3) and it is shown to have desirable closed loop properties that are almost global. Several numerical examples, including an example in which the quadrotor recovers from being initially upside down, illustrate the versatility of the controller.
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Citations
Cited by
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
Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments
Richter, C., Bry, A., & Roy, N. (2016) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-319-28872-7_37 · Cited by 747
RotorS—A Modular Gazebo MAV Simulator Framework
Furrer, F., Burri, M., Achtelik, M., & Siegwart, R. (2016) · Studies in Computational Intelligence · doi:10.1007/978-3-319-26054-9_23 · Cited by 592
Liu, S., Watterson, M., Mohta, K., Sun, K., Bhattacharya, S., Taylor, C. J., & Kumar, V. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2663526 · Cited by 555
Metadata
- Authors
- Lee, T., Leok, M., & McClamroch, N. H.
- Venue
- 49th IEEE Conference on Decision and Control (CDC)
- Publisher
- IEEE
- Published
- 2010-12
- Pages
- 5420-5425
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W2109656638
- Cited by
- 1,376
- References
- 0
- FWCI
- 36.44
- Type
- conference paper
- Language
- en
- Open access
- green
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- Lee, T., Leok, M., & McClamroch, N. H. (2010). Geometric tracking control of a quadrotor UAV on SE(3). 49th IEEE Conference on Decision and Control (CDC). https://doi.org/10.1109/cdc.2010.5717652
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