The paper provides the results of a robust position controller design for a quadrotor unmanned aerial vehicle (UAV) in the presence of bounded uncertainties and disturbances. The dynamic model of a quadrotor UAV is defined on the special Euclidean group. In the proposed controller, inertial vector measurements are used instead of system attitude, and robust adaptive position and attitude controllers are designed sequentially. The proposed control method ensures the tracking of a desired trajectory while significantly reducing the effect of uncertainties and disturbances. Also, simulation results are provided to demonstrate the effectiveness of the proposed control strategy.


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    Title :

    Robust Position and Attitude Tracking Control of Unmanned Quadrotor


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:

    Conference:

    International Conference on Electrical Engineering and Control Applications ; 2022 ; Khenchela, Algeria November 15, 2022 - November 17, 2022



    Publication date :

    2024-10-01


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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