Title :
Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model
Author :
Lee, DongBin ; Burg, Timothy C. ; Dawson, Darren M. ; Shu, Dule ; Xian, Bin ; Tatlicioglu, Enver
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC, USA
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.
Keywords :
Lyapunov methods; aerospace robotics; control nonlinearities; control system synthesis; nonlinear dynamical systems; position control; remotely operated vehicles; robust control; rotors; space vehicles; state feedback; tracking; uncertain systems; GUUB tracking; Lyapunov-type stability analysis; backstepping approach; dynamic subsystem model; global uniform ultimately bounded; nonlinear coupled system; parametric uncertain model; quad-rotor UAV system; robust tracking control; state feedback control system design; underactuated quadrotor aerial vehicle; underactuated quadrotor aerial-robot; yaw trajectory tracking; Cybernetics; Robust control; USA Councils; Lyapunov stability; Quadrotor UAV; robot; robust; tracking; uncertain; underactuated;
Conference_Titel :
Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
978-1-4244-2793-2
Electronic_ISBN :
1062-922X
DOI :
10.1109/ICSMC.2009.5346158
