Geometric tracking control of a multi‐rotor UAV for partially known trajectories

This article presents a trajectory‐tracking controller for multi‐rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher‐order derivatives. The proposed solution modifies the state‐of‐the‐art geometric controller, effectively addres...

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Veröffentlicht in:	International journal of robust and nonlinear control 2024-09, Vol.34 (14), p.9572-9595
Hauptverfasser:	Kumar, Yogesh, Roy, S. B., Sujit, P. B.
Format:	Artikel
Sprache:	eng
Schlagworte:	Controllers Dynamic structural analysis Error analysis geometric control multi‐rotor UAV nonlinear control Nonlinear dynamics Nonlinear filters nonlinear filters on SO$$ \mathrm{SO} quadrotors Rotors Tracking control Trajectory analysis Trajectory control Unmanned aerial vehicles
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