This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) 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.
Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 11, 2014; final manuscript received April 6, 2015; published online June 8, 2015. Assoc. Editor: Jwu-Sheng Hu.
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Goodarzi, F. A., Lee, D., and Lee, T. (June 8, 2015). "Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers." ASME. J. Dyn. Sys., Meas., Control. September 2015; 137(9): 091007. https://doi.org/10.1115/1.4030419
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