Attitude tracking control of a quadrotor UAV in the exponential coordinates

DOI10.1016/J.JFRANKLIN.2013.05.022zbMATH Open1293.93559OpenAlexW1985913312MaRDI QIDQ396555FDOQ396555

Authors: Yushu Yu, Xilun Ding, J. Jim Zhu 

Publication date: 13 August 2014

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2013.05.022

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zbMATH Keywords

attitude dynamicsmodelingLie groupunmanned aerial vehicletrajectory linearization

Mathematics Subject Classification ID

Linearizations (93B18) Automated systems (robots, etc.) in control theory (93C85) Algebraic methods (93B25)

Cites Work

• Interpolation schemes for rigid body motions
• Title not available (Why is that?)
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon
• Backstepping approach for controlling a quadrotor using Lagrange form dynamics
• Smooth interpolation on homogeneous matrix groups for computer animation
• Title not available (Why is that?)
• Asymptotic Smooth Stabilization of the Inverted 3-D Pendulum

Cited In (9)

• Tracking control for a class of fully actuated systems on manifolds with impulsive effects
• Three-dimensional distributed tracking control for multiple quadrotor helicopters
• Constrained control for systems on matrix Lie groups with uncertainties
• Switched linear parameter‐varying tracking control for quadrotors with large attitude angles and time‐varying inertia
• Attitude trajectory planning and attitude control for quad-rotor aircraft based on finite-time control technique
• Trajectory linearization control on \(\mathrm{SO}(3)\) with application to aerial manipulation
• Robust global exponential stabilization on the \(n\)-dimensional sphere with applications to trajectory tracking for quadrotors
• Attitude tracking of rigid bodies using exponential coordinates and a disturbance observer
• Quadcopter aggressive maneuvers along singular configurations: an energy-quaternion based approach

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