The Trajectory Tracking Problem of Quadrotor <scp>UAV</scp>: Global Stability Analysis and Control Design Based on the Cascade Theory

DOI10.1002/ASJC.746zbMATH Open1290.93125OpenAlexW1496621204MaRDI QIDQ5420186FDOQ5420186

Authors: Lu Wang, Heming Jia 

Publication date: 11 June 2014

Published in: Asian Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/asjc.746

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zbMATH Keywords

nonlinear disturbance observertrajectory tracking controlquadrotor UAVbackstepping approachmodified Rodrigues parametersglobal stability analysis conclusions

Mathematics Subject Classification ID

Variable structure systems (93B12) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Stability of control systems (93D99)

Cites Work

• On global uniform asymptotic stability of nonlinear time-varying systems in cascade
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• Further passivity results for the attitude control problem
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• Rigid body attitude tracking without angular velocity feedback
• An integral predictive/nonlinear \(\mathcal H_{\infty}\) control structure for a quadrotor helicopter
• Tracking control of second-order chained form systems by cascaded backstepping
• Battery power loss compensated fractional order sliding mode control of a quadrotor UAV
• Explorations in mathematical physics. The concepts behind an elegant language.
• On trajectory tracking model predictive control of an unmanned quadrotor helicopter subject to aerodynamic disturbances
• Nonlinear internal model based attitude tracking and disturbance rejection
• Adaptive fuzzy control for a quadrotor helicopter robust to wind buffeting

Cited In (19)

• Tracking control of vertical taking-off and landing vehicles with parametric uncertainty
• Adaptive trajectory tracking controller for quadrotor systems subject to parametric uncertainties
• Predictor-based collision-free and connectivity-preserving resilient formation control for multi-agent systems under sensor deception attacks
• \(L_2\)-gain robust trajectory tracking control for quadrotor UAV with unknown disturbance
• Three-dimensional constrained tracking control via exact differentiation estimator of a quadrotor helicopter
• Vision-based tracking control of quadrotor for a moving target with nonlinear angular velocity observer
• Finite-time terminal sliding mode tracking control of a VTOL UAV via the generalized NDOB
• Nonlinear robust adaptive hierarchical sliding mode control approach for quadrotors
• Three-dimensional distributed tracking control for multiple quadrotor helicopters
• Dynamic modeling and nonlinear tracking control of a novel modified quadrotor
• The trajectory tracking problem for an unmanned four-rotor system: flatness-based approach
• Modeling and robust trajectory tracking control for a novel six-rotor unmanned aerial vehicle
• Nonlinear and adaptive intelligent control techniques for quadrotor UAV -- a survey
• A geometric approach for quadrotor trajectory tracking control
• Robust control for a quadrotor aircraft with small overshoot and high-precision position tracking performance
• Trajectory tracking control of a 6-DOF quadrotor UAV with input saturation via backstepping
• Image-based prescribed performance visual servoing control of a QUAV with hysteresis quantised input
• On the global stabilization of 6‐DOF quadrotors: A direct Lyapunov approach
• A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information

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