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Title:

Cascaded Energy Based Trajectory Tracking Control of a Quadrotor

Document type:
Zeitschriftenaufsatz
Author(s):
Fritsch, O.; Tromba, D.; Lohmann, B.
Abstract:
This paper presents a cascaded nonlinear state feedback control law for a quadrotor, which achieves asymptotic tracking of a predefined position and heading reference trajectory. The inner-loop attitude controller and the outer-loop position controller reflect the cascade structure of the quadrotor dynamics and are designed independently using an energy shaping approach. The closed loop tracking error dynamics form a nonautonomous nonlinear cascade for whose zero equilibrium we prove almost glob...     »
Journal title:
at - Automatisierungstechnik
Year:
2014
Journal volume:
62
Year / month:
2014-06
Month:
Jun
Journal issue:
6
Pages contribution:
408--422
Covered by:
Scopus; Web of Science
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1515/auto-2013-1063
WWW:
http://www.at-automatisierungstechnik.de/
Status:
Erstveröffentlichung
TUM Institution:
Lehrstuhl für Regelungstechnik
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