Global trajectory tracking for quadrotors: an MRP-based hybrid strategy with input saturation

DOI10.1016/J.AUTOMATICA.2024.111521MaRDI QIDQ6491094

Luis F. Martins, Paulo Roberto Oliveira, Carlos Cardeira

Publication date: 24 April 2024

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

global stabilitynonlinear control systemstrajectory trackinginput saturationautonomous vehicles

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Input-output approaches in control theory (93D25) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

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• Constructive nonlinear control
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• Global Exponential Attitude Tracking Controls on <inline-formula> <tex-math notation="TeX">${\mathsf {SO}}({\mathsf 3})$</tex-math></inline-formula>
• Quaternion-Based Hybrid Control for Robust Global Attitude Tracking
• On Path-Lifting Mechanisms and Unwinding in Quaternion-Based Attitude Control
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

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