Quadrotor Control on SU(2)× R<sup>3</sup>with SLAM Integration
Greiff, Marcus; Persson, Patrik; Sun, Zhiyong; Astrom, Karl, et al. (2022). Quadrotor Control on SU(2)× R<sup>3</sup>with SLAM Integration 2022 IEEE Conference on Control Technology and Applications, CCTA 2022, 291 - 298. 2022 IEEE Conference on Control Technology and Applications, CCTA 2022. Trieste, Italy: IEEE - Institute of Electrical and Electronics Engineers Inc.
Conference Proceeding/Paper
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Published
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English
Authors:
Greiff, Marcus
;
Persson, Patrik
;
Sun, Zhiyong
;
Astrom, Karl
, et al.
Department:
Mathematics (Faculty of Engineering)
LTH Profile Area: AI and Digitalization
LTH Profile Area: Engineering Health
ELLIIT: the Linköping-Lund initiative on IT and mobile communication
eSSENCE: The e-Science Collaboration
Mathematical Imaging Group
LTH Profile Area: Circular Building Sector
Department of Automatic Control
Research Group:
Mathematical Imaging Group
Abstract:
We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2) × R3, and relate this result to a family of geometric tracking controllers on SO(3) × R3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed con-trol system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.
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