Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2447
Title: Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model
Authors: Lee, Dongbin
Burg, Timothy C.
Dawson, Darren M.
Shu, Dule
Xian, Bin
Tatlıcıoğlu, Enver
Tatlıcıoğlu, Enver
Izmir Institute of Technology. Electronics and Communication Engineering
Keywords: System stability
Lyapunov stability
Quadrotor UAV
Robots
Robust control
Issue Date: 2009
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Lee, D., Burg, T. C., Dawson, D. M., Shu, D., Xian, B., and Tatlıcıoğlu, E. (2009, October 11-14). Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model. Paper presenred at the IEEE International Conference on Systems, Man and Cybernetics, SMC 2009. doi:10.1109/ICSMC.2009.5346158
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
Description: IEEE International Conference on Systems, Man and Cybernetics, SMC 2009; San Antonio, TX; United States; 11 October 2009 through 14 October 2009
URI: http://doi.org/10.1109/ICSMC.2009.5346158
http://hdl.handle.net/11147/2447
ISSN: 1062-922X
1062-922X
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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