Attitude tracking control of a quadrotor UAV in the exponential coordinates

DOI10.1016/j.jfranklin.2013.05.022zbMath1293.93559OpenAlexW1985913312MaRDI QIDQ396555

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

zbMATH Keywords

modelingLie groupattitude dynamicsunmanned aerial vehicletrajectory linearization

Mathematics Subject Classification ID

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

Related Items (3)

Three-dimensional distributed tracking control for multiple quadrotor helicopters ⋮ Constrained control for systems on matrix Lie groups with uncertainties ⋮ Trajectory linearization control on \(\mathrm{SO}(3)\) with application to aerial manipulation

Cites Work

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• Backstepping approach for controlling a quadrotor using Lagrange form dynamics
• Interpolation schemes for rigid body motions
• Smooth interpolation on homogeneous matrix groups for computer animation
• Asymptotic Smooth Stabilization of the Inverted 3-D Pendulum
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

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