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  Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances

Antonelli, G., Arrichiello, F., Chiaverini, S., & Robuffo Giordano, P. (2013). Adaptive trajectory tracking for quadrotor MAVs in presence of parameter uncertainties and external disturbances. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2013) (pp. 1337-1342). Piscataway, NJ, USA: IEEE.

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 Creators:
Antonelli, G, Author
Arrichiello, F, Author
Chiaverini, S, Author
Robuffo Giordano, P1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: The paper presents an adaptive trajectory tracking control strategy for quadrotor Micro Aerial Vehicles. The proposed approach, while keeping the typical assumption of an orientation dynamics faster than the translational one, removes that of absence of external disturbances and of perfect symmetry of the vehicle. In particular, the trajectory tracking control law is made adaptive with respect to the presence of external forces and moments, and to the uncertainty of dynamic parameters as the position of the center of mass of the vehicle. A stability analysis as well as numerical simulations are provided to support the control design.

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 Dates: 2013-07
 Publication Status: Published in print
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 Rev. Type: -
 Identifiers: DOI: 10.1109/AIM.2013.6584280
BibTex Citekey: AntonelliACR2013
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Title: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2013)
Place of Event: Wollongong, NSW, Australia
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Title: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2013)
Source Genre: Proceedings
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Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1337 - 1342 Identifier: ISBN: 978-1-4673-5319-9