Geometric tracking control of a quadrotor UAV on SE(3)

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 asymptot...

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Bibliographic Details
Published in49th IEEE Conference on Decision and Control (CDC) pp. 5420 - 5425
Main Authors Taeyoung Lee, Leoky, M, McClamroch, N H
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2010
Subjects
Asymptotic stability
Attitude control
Propellers
Rotors
Stability analysis
Trajectory
Unmanned aerial vehicles
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Summary: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.
ISBN:142447745X
9781424477456
ISSN:0191-2216
DOI:10.1109/CDC.2010.5717652