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Filtered output feedback tracking control of a quadrotor UAV

Lefeber, Erjen ; Greiff, Marcus LU and Robertsson, Anders LU (2020) 21st IFAC World Congress In IFAC-PapersOnLine 53(2). p.5764-5770
Abstract
We present a tracking controller for quadrotor UAVs which uses partial state information and filters measurement noise. We show uniform almost global and locally exponential asymptotic stability of the resulting closed-loop system, which implies robustness against bounded disturbances. We illustrate the performance of the controller by means of several numerical examples, including a complex looping maneuver.
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
IFAC-PapersOnLine : 21st IFAC World Congress (IFAC 2020) - 21st IFAC World Congress (IFAC 2020)
series title
IFAC-PapersOnLine
volume
53
issue
2
pages
5764 - 5770
publisher
Elsevier
conference name
21st IFAC World Congress
conference location
Berlin, Germany
conference dates
2020-07-13 - 2020-07-17
external identifiers
  • scopus:85105060618
ISSN
2405-8963
DOI
10.1016/j.ifacol.2020.12.1609
project
Semantic Mapping and Visual Navigation for Smart Robots
language
English
LU publication?
yes
id
7f0ac0c3-3a9b-4861-9452-ec9a5c5fc5b5
date added to LUP
2021-01-10 23:51:35
date last changed
2025-04-04 14:23:25
@inproceedings{7f0ac0c3-3a9b-4861-9452-ec9a5c5fc5b5,
  abstract     = {{We present a tracking controller for quadrotor UAVs which uses partial state information and filters measurement noise. We show uniform almost global and locally exponential asymptotic stability of the resulting closed-loop system, which implies robustness against bounded disturbances. We illustrate the performance of the controller by means of several numerical examples, including a complex looping maneuver.}},
  author       = {{Lefeber, Erjen and Greiff, Marcus and Robertsson, Anders}},
  booktitle    = {{IFAC-PapersOnLine : 21st IFAC World Congress (IFAC 2020)}},
  issn         = {{2405-8963}},
  language     = {{eng}},
  number       = {{2}},
  pages        = {{5764--5770}},
  publisher    = {{Elsevier}},
  series       = {{IFAC-PapersOnLine}},
  title        = {{Filtered output feedback tracking control of a quadrotor UAV}},
  url          = {{http://dx.doi.org/10.1016/j.ifacol.2020.12.1609}},
  doi          = {{10.1016/j.ifacol.2020.12.1609}},
  volume       = {{53}},
  year         = {{2020}},
}