Quadrotor Control on SU(2)× R3with SLAM Integration
Greiff, Marcus LU ; Persson, Patrik LU
; Sun, Zhiyong
; Astrom, Karl
LU
and Robertsson, Anders
LU
(2022)
2022 IEEE Conference on Control Technology and Applications, CCTA 2022
p.291-298
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/31e193c7-dacc-4798-bf79-117c86730c76
- author
- Greiff, Marcus
LU
; Persson, Patrik
LU
; Sun, Zhiyong
; Astrom, Karl
LU
and Robertsson, Anders
LU
- organization
-
- 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 (research group)
- LTH Profile Area: Circular Building Sector
- Department of Automatic Control
- publishing date
- 2022
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2022 IEEE Conference on Control Technology and Applications, CCTA 2022
- pages
- 8 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2022 IEEE Conference on Control Technology and Applications, CCTA 2022
- conference location
- Trieste, Italy
- conference dates
- 2022-08-23 - 2022-08-25
- external identifiers
-
- scopus:85144592093
- ISBN
- 9781665473385
- DOI
- 10.1109/CCTA49430.2022.9966068
- language
- English
- LU publication?
- yes
- id
- 31e193c7-dacc-4798-bf79-117c86730c76
- date added to LUP
- 2023-01-13 10:26:53
- date last changed
- 2023-11-21 15:33:05
@inproceedings{31e193c7-dacc-4798-bf79-117c86730c76,
abstract = {{<p>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.</p>}},
author = {{Greiff, Marcus and Persson, Patrik and Sun, Zhiyong and Astrom, Karl and Robertsson, Anders}},
booktitle = {{2022 IEEE Conference on Control Technology and Applications, CCTA 2022}},
isbn = {{9781665473385}},
language = {{eng}},
pages = {{291--298}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Quadrotor Control on SU(2)× R<sup>3</sup>with SLAM Integration}},
url = {{http://dx.doi.org/10.1109/CCTA49430.2022.9966068}},
doi = {{10.1109/CCTA49430.2022.9966068}},
year = {{2022}},
}