Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)

2011/09/21 by Taeyoung Lee, Lee, Taeyoung, Melvin Leok +3 · 2 citations
Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #FOS: Mathematics #Guidance and Control Systems #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.1109.4457

openalex publication_date 2011/09/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear output-tracking controllers are developed to follow (1) an attitude command, and (2) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be arbitrarily reduced by control system parameters. Numerical examples illustrating complex maneuvers are provided.

Cited by

• Drift-Corrected Monocular VIO and Perception-Aware Planning for Autonomous Drone Racing
• A Perception-feedback position-tracking control for quadrotors

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