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• W1986045690 abstract "This paper presents a novel asymptotic tracking controller for an underactuated quadrotor unmanned aerial vehicle using the robust integral of the signum of the error (RISE) method and an immersion and invariance (I&I)-based adaptive control methodology. The control system is decoupled into two parts: the inner loop for attitude control and the outer loop for position control. The RISE approach is applied in the inner loop for disturbance rejection, whereas the I&I approach is chosen for the outer loop to compensate for the parametric uncertainties. The asymptotic tracking of the time-varying 3-D position and the yaw motion reference trajectories is proven via the Lyapunov-based stability analysis and LaSalle's invariance theorem. Real-time experiment results, which are performed on a hardware-in-the-loop simulation testbed, are presented to illustrate the performance of the proposed control scheme." @default.
• W1986045690 created "2016-06-24" @default.
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• W1986045690 date "2015-05-01" @default.
• W1986045690 modified "2023-10-18" @default.
• W1986045690 title "Nonlinear Robust Adaptive Tracking Control of a Quadrotor UAV Via Immersion and Invariance Methodology" @default.
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• W1986045690 doi "https://doi.org/10.1109/tie.2014.2364982" @default.
• W1986045690 hasPublicationYear "2015" @default.
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