293 research outputs found
Global Exponential Attitude Tracking Controls on SO(3)
This paper presents four types of tracking control systems for the attitude
dynamics of a rigid body. First, a smooth control system is constructed to
track a given desired attitude trajectory, while guaranteeing almost
semi-global exponential stability. It is extended to achieve global exponential
stability by using a hybrid control scheme based on multiple configuration
error functions. They are further extended to obtain robustness with respect to
a fixed disturbance using an integral term. The resulting robust, global
exponential stability for attitude tracking is the unique contribution of this
paper, and these are developed directly on the special orthogonal group to
avoid singularities of local coordinates, or ambiguities associated with
quaternions. The desirable features are illustrated by numerical examples
Geometric Controls for a Tethered Quadrotor UAV
This paper deals with the dynamics and controls of a quadrotor unmanned
aerial vehicle that is connected to a fixed point on the ground via a tether.
Tethered quadrotors have been envisaged for long-term aerial surveillance with
high-speed communications. This paper presents an intrinsic form of the dynamic
model of a tethered quadrotor including the coupling between deformations of
the tether and the motion of the quadrotor, and it constructs geometric control
systems to asymptotically stabilize the coupled dynamics of the quadrotor and
the tether. The proposed global formulation of dynamics and control also avoids
complexities and singularities associated with local coordinates. These are
illustrated by numerical examples
Geometric Adaptive Control for a Quadrotor UAV with Wind Disturbance Rejection
This paper presents a geometric adaptive control scheme for a quadrotor
unmanned aerial vehicle, where the effects of unknown, unstructured
disturbances are mitigated by a multilayer neural network that is adjusted
online. The stability of the proposed controller is analyzed with Lyapunov
stability theory on the special Euclidean group, and it is shown that the
tracking errors are uniformly ultimately bounded with an ultimate bound that
can be abridged arbitrarily. A mathematical model of wind disturbance on the
quadrotor dynamics is presented, and it is shown that the proposed adaptive
controller is capable of rejecting the effects of wind disturbances
successfully. These are illustrated by numerical examples
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