Geometric Adaptive Tracking Control of a Quadrotor UAV on SE(3) for Agile Maneuvers
Optimization and Control
2015-05-06 v1
Abstract
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude dynamics, a geometric nonlinear adaptive controller is developed directly on the special Euclidean group. In particular, a new form of an adaptive control term is proposed to guarantee stability while compensating the effects of uncertainties in quadrotor dynamics. A rigorous mathematical stability proof is given. The desirable features are illustrated by numerical example and experimental results of aggressive maneuvers.
Keywords
Cite
@article{arxiv.1411.2986,
title = {Geometric Adaptive Tracking Control of a Quadrotor UAV on SE(3) for Agile Maneuvers},
author = {Farhad A. Goodarzi and Daewon Lee and Taeyoung Lee},
journal= {arXiv preprint arXiv:1411.2986},
year = {2015}
}
Comments
arXiv admin note: substantial text overlap with arXiv:1304.6765, arXiv:1109.4457