Robust adaptive geometric tracking controls on SO(3) with an application to the attitude dynamics of a quadrotor UAV

This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and ambiguities associated with other attitude...

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Bibliographic Details
Published in:2011 50th IEEE Conference on Decision and Control and European Control Conference pp. 7380 - 7385
Main Authors: Fernando, T., Chandiramani, J., Taeyoung Lee, Gutierrez, H.
Format: Conference Proceeding
Language:English
Published: IEEE 01.12.2011
Subjects:
Adaptive systems
Angular velocity
Attitude control
Control systems
Manifolds
Robustness
Vectors
ISBN:9781612848006, 1612848001
ISSN:0191-2216
Online Access:Get full text
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Summary:This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and ambiguities associated with other attitude representations such as Euler angles or quaternions. By designing an adaptive law for the inertia matrix of a rigid body, the proposed control system can asymptotically follow an attitude command without the knowledge of the inertia matrix, and it is extended to guarantee boundedness of tracking errors in the presence of unstructured disturbances. These are illustrated by numerical examples and experiments for the attitude dynamics of a quadrotor UAV.
ISBN:9781612848006
1612848001
ISSN:0191-2216
DOI:10.1109/CDC.2011.6161306