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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Veröffentlicht in:	2011 50th IEEE Conference on Decision and Control and European Control Conference S. 7380 - 7385
Hauptverfasser:	Fernando, T., Chandiramani, J., Taeyoung Lee, Gutierrez, H.
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	IEEE 01.12.2011
Schlagworte:	Adaptive systems Angular velocity Attitude control Control systems Manifolds Robustness Vectors
ISBN:	9781612848006, 1612848001
ISSN:	0191-2216
Online-Zugang:	Volltext
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