Geometric Tracking Control of a Quadrotor on SE(3) using left tracking error function. (2020)
- Record Type:
- Journal Article
- Title:
- Geometric Tracking Control of a Quadrotor on SE(3) using left tracking error function. (2020)
- Main Title:
- Geometric Tracking Control of a Quadrotor on SE(3) using left tracking error function
- Authors:
- Sharma, Manmohan
Kar, Indrani - Abstract:
- Abstract: This paper presents geometric tracking control law for a quadrotor UAV on SE(3) using left tracking error function as compared to right tracking error function reported in the literature. The use of left tracking error function results in a simpler control law design as compared to right tracking error function. The configuration errors have been defined on SE(3) using geometric approach. Rigorous mathematical proof have been given to show the exponential stability of the closed loop system under positive definiteness conditions on some matrices. Simulation results have been presented using this simpler control law to validate the designed control law.
- Is Part Of:
- IFAC-PapersOnLine. Volume 53(2020)Supplement
- Journal:
- IFAC-PapersOnLine
- Issue:
- Volume 53(2020)Supplement
- Issue Display:
- Volume 53, Issue 1 (2020)
- Year:
- 2020
- Volume:
- 53
- Issue:
- 1
- Issue Sort Value:
- 2020-0053-0001-0000
- Page Start:
- 301
- Page End:
- 306
- Publication Date:
- 2020
- Subjects:
- Geometric Control -- Quadrotors -- Robotics
Automatic control -- Periodicals
629.805 - Journal URLs:
- https://www.journals.elsevier.com/ifac-papersonline/ ↗
http://www.sciencedirect.com/ ↗ - DOI:
- 10.1016/j.ifacol.2020.06.051 ↗
- Languages:
- English
- ISSNs:
- 2405-8963
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 19101.xml