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Presentation
Robust Tracking Control of an Underactuated Aerial-Robot based on a Parametric Uncertain Model
2009 IEEE International Conference on Systems, Man and Cybernetics
  • Dongbin Lee, University of the Pacific
  • Timothy C. Burg, Clemson University
  • Darren M. Dawson
  • Dule Shu
  • Bin Xian
  • Enver Tatlicioglu
ORCiD
Dongbin Lee: 0000-0002-5307-0374
Document Type
Conference Proceeding
Department
Electrical and Computer Engineering
Location
San Antonio, TX
Conference Dates
11-14 October 2009
Date of Presentation
10-1-2009
Disciplines
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.

Publisher
IEEE
ISBN
978-1-4244-2793-2
DOI
10.1109/ICSMC.2009.5346158
Citation Information
Dongbin Lee, Timothy C. Burg, Darren M. Dawson, Dule Shu, et al.. "Robust Tracking Control of an Underactuated Aerial-Robot based on a Parametric Uncertain Model" 2009 IEEE International Conference on Systems, Man and Cybernetics (2009) ISSN: 1062-922X
Available at: http://works.bepress.com/dongbin-lee/21/