Geometric Adaptive Tracking Control of a Quadrotor UAV on SE(3) for Agile Maneuvers
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Publication:6256325
DOI10.1115/1.4030419arXiv1411.2986MaRDI QIDQ6256325FDOQ6256325
Farhad Goodarzi, Tae-Young Lee, Dae-Won Lee
Publication date: 11 November 2014
Abstract: This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude dynamics, a geometric nonlinear adaptive controller is developed directly on the special Euclidean group. In particular, a new form of an adaptive control term is proposed to guarantee stability while compensating the effects of uncertainties in quadrotor dynamics. A rigorous mathematical stability proof is given. The desirable features are illustrated by numerical example and experimental results of aggressive maneuvers.
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