Geometric Surface-Based Tracking Control of a Quadrotor UAV for Aggressive Maneuvers

Ramp, Michalis; Papadopoulos, Evangelos

dc.contributor.author	Ramp, Michalis
dc.contributor.author	Papadopoulos, Evangelos
dc.date.accessioned	2022-09-06T12:44:44Z
dc.date.available	2022-09-06T12:44:44Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/55604
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.23302
dc.rights	Default License
dc.subject	Quadcopter	en
dc.title	Geometric Surface-Based Tracking Control of a Quadrotor UAV for Aggressive Maneuvers	en
heal.type	conferenceItem
heal.classification	Geometric control	en
heal.contributorName	Ramp, Michalis
heal.contributorName	Papadopoulos, Evangelos
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2018-08-23
heal.bibliographicCitation	M. Ramp and E. Papadopoulos, "Geometric Surface-Based Tracking Control of a Quadrotor UAV for Aggressive Maneuvers," 2018 26th Mediterranean Conference on Control and Automation (MED), 2018, pp. 1-6, doi: 10.1109/MED.2018.8442796.	en
heal.abstract	New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear characteristics of the SE(3) configuration space. In particular, geometric surface-based controllers are developed and are shown, through rigorous stability proofs, to have desirable almost global closed loop properties. For the first time in regards to the geometric literature, a region of attraction independent of the position error is identified and its effects are analyzed. The effectiveness of the proposed `surface based' controllers are illustrated by simulations of aggressive maneuvers in the presence of disturbances and motor saturation.	en
heal.publisher	IEEE	en
heal.fullTextAvailability	false
heal.conferenceName	Mediterranean Conference on Control and Automation (MED)	en
heal.conferenceItemType	full paper