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

• Published in: 49th IEEE Conference on Decision and Control (CDC) pp. 5420 - 5425
• Main Authors: Taeyoung Lee, Leoky, M, McClamroch, N H
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.12.2010
• Subjects: Asymptotic stability; Attitude control; Propellers; Rotors; Stability analysis; Trajectory; Unmanned aerial vehicles

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...