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• W3100622576 abstract "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." @default.
• W3100622576 created "2020-11-23" @default.
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• W3100622576 date "2018-12-01" @default.
• W3100622576 modified "2023-09-30" @default.
• W3100622576 title "Geometric Adaptive Control for a Quadrotor UAV with Wind Disturbance Rejection" @default.
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• W3100622576 doi "https://doi.org/10.1109/cdc.2018.8619390" @default.
• W3100622576 hasPublicationYear "2018" @default.
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