Robust attitude tracking control of a quadrotor helicopter in the presence of uncertainty
A robust attitude tracking controller is presented in this paper, which achieves asymptotic tracking of a quadrotor helicopter in the presence of parametric uncertainty and unknown, nonlinear, non-vanishing disturbances, which do not satisfy the linear-in-the-parameters assumption. One of the challe...
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description | A robust attitude tracking controller is presented in this paper, which achieves asymptotic tracking of a quadrotor helicopter in the presence of parametric uncertainty and unknown, nonlinear, non-vanishing disturbances, which do not satisfy the linear-in-the-parameters assumption. One of the challenges encountered in the control design is that the control input is premultiplied by a nonlinear, state-varying matrix containing parametric uncertainty. An integral sliding mode control technique is employed to compensate for the nonlinear disturbances, and the input-multiplicative uncertainty is mitigated through innovative algebraic manipulation in the error system development. The proposed robust control law is designed to be practically implementable, requiring no observers, function approximators, or online adaptation laws. Asymptotic trajectory tracking is proven via Lyapunov-based stability analysis, and simulation results are provided to verify the performance of the proposed controller. |
doi_str_mv | 10.1109/CDC.2012.6426266 |
format | Conference Proceeding |
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Asymptotic trajectory tracking is proven via Lyapunov-based stability analysis, and simulation results are provided to verify the performance of the proposed controller.</description><subject>Attitude control</subject><subject>Control design</subject><subject>Linear matrix inequalities</subject><subject>Numerical models</subject><subject>Robustness</subject><subject>Trajectory</subject><subject>Uncertainty</subject><issn>0191-2216</issn><isbn>9781467320658</isbn><isbn>146732065X</isbn><isbn>1467320633</isbn><isbn>1467320668</isbn><isbn>9781467320634</isbn><isbn>9781467320665</isbn><isbn>9781467320641</isbn><isbn>1467320641</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kM1KAzEURiMq2NbuBTd5gRlz83OTWcpoVSgIogtXJZ25Y6N1UjOZRd9exbo6fHD4FoexCxAlgKiu6pu6lAJkiVqiRDxiU9BolRSo1DGbV9b9b-NO2ERABYWUgGdsOgzvQggnECfs9SmuxyFzn3PIY0s8J998hP6NN7HPKW557LjnX6NvU8wx8Q1tQxN3mRIPPc8b4rtEA_UN_ZrjD1P2oc_7c3ba-e1A8wNn7GVx-1zfF8vHu4f6elkEsCYX6w6dB2lNoxVJNNZ1WlmhSclGAhjRtgSuM8a2qIzRa6zIVi0K7bRynVQzdvn3G4hotUvh06f96pBFfQMQP1Pw</recordid><startdate>201212</startdate><enddate>201212</enddate><creator>Ton, Chau T.</creator><creator>MacKunis, William</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201212</creationdate><title>Robust attitude tracking control of a quadrotor helicopter in the presence of uncertainty</title><author>Ton, Chau T. ; MacKunis, William</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-bf68a1275c43e26578f43704e32c21150dde18f557d63554b69e79d6048438f23</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Attitude control</topic><topic>Control design</topic><topic>Linear matrix inequalities</topic><topic>Numerical models</topic><topic>Robustness</topic><topic>Trajectory</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Ton, Chau T.</creatorcontrib><creatorcontrib>MacKunis, William</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ton, Chau T.</au><au>MacKunis, William</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Robust attitude tracking control of a quadrotor helicopter in the presence of uncertainty</atitle><btitle>2012 IEEE 51st IEEE Conference on Decision and Control (CDC)</btitle><stitle>CDC</stitle><date>2012-12</date><risdate>2012</risdate><spage>937</spage><epage>942</epage><pages>937-942</pages><issn>0191-2216</issn><isbn>9781467320658</isbn><isbn>146732065X</isbn><eisbn>1467320633</eisbn><eisbn>1467320668</eisbn><eisbn>9781467320634</eisbn><eisbn>9781467320665</eisbn><eisbn>9781467320641</eisbn><eisbn>1467320641</eisbn><abstract>A robust attitude tracking controller is presented in this paper, which achieves asymptotic tracking of a quadrotor helicopter in the presence of parametric uncertainty and unknown, nonlinear, non-vanishing disturbances, which do not satisfy the linear-in-the-parameters assumption. One of the challenges encountered in the control design is that the control input is premultiplied by a nonlinear, state-varying matrix containing parametric uncertainty. An integral sliding mode control technique is employed to compensate for the nonlinear disturbances, and the input-multiplicative uncertainty is mitigated through innovative algebraic manipulation in the error system development. The proposed robust control law is designed to be practically implementable, requiring no observers, function approximators, or online adaptation laws. Asymptotic trajectory tracking is proven via Lyapunov-based stability analysis, and simulation results are provided to verify the performance of the proposed controller.</abstract><pub>IEEE</pub><doi>10.1109/CDC.2012.6426266</doi><tpages>6</tpages></addata></record> |
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source | IEEE Electronic Library (IEL) Conference Proceedings |
subjects | Attitude control Control design Linear matrix inequalities Numerical models Robustness Trajectory Uncertainty |
title | Robust attitude tracking control of a quadrotor helicopter in the presence of uncertainty |
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