%0 Journal Article %1 leeEtAl2013 %A Lee, Taeyoung %A Leok, Melvin %A McClamroch, N. Harris %D 2013 %J Asian Journal of Control %K control master-thesis micro-air-vehicle motion-control nonlinear nonlinear-control quadro-copter velocity-control %N 2 %P 391--408 %R 10.1002/asjc.567 %T Nonlinear Robust Tracking Control of a Quadrotor UAV on $SE(3)$ %U http://dx.doi.org/10.1002/asjc.567 %V 15 %X This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear output-tracking controllers are developed to follow (i) an attitude command, and (ii) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be reduced arbitrarily by control system parameters. Numerical examples illustrating complex maneuvers are provided.

@article{leeEtAl2013, abstract = {This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear output-tracking controllers are developed to follow (i) an attitude command, and (ii) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be reduced arbitrarily by control system parameters. Numerical examples illustrating complex maneuvers are provided.}, added-at = {2015-09-25T22:18:01.000+0200}, author = {Lee, Taeyoung and Leok, Melvin and McClamroch, N. Harris}, biburl = {https://www.bibsonomy.org/bibtex/2946bb8709d0a9b2487692facb4a692e9/cut}, doi = {10.1002/asjc.567}, interhash = {5959264d3817a9986f842a282bad4570}, intrahash = {946bb8709d0a9b2487692facb4a692e9}, issn = {1934-6093}, journal = {Asian Journal of Control}, keywords = {control master-thesis micro-air-vehicle motion-control nonlinear nonlinear-control quadro-copter velocity-control}, number = 2, pages = {391--408}, timestamp = {2015-12-01T16:25:42.000+0100}, title = {Nonlinear Robust Tracking Control of a Quadrotor UAV on $SE(3)$}, url = {http://dx.doi.org/10.1002/asjc.567}, volume = 15, year = 2013 }