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Quaternion-based Robust Trajectory Tracking Control of a Quadrotor Hover System

  • Derek Hoffman
  • Muhammad Rehan
  • William MacKunis
  • Mahmut Reyhanoglu
Regular Papers Control Theory and Applications
  • 29 Downloads

Abstract

This paper presents a robust nonlinear output feedback control method that achieves three degree of freedom (3-DOF) attitude trajectory tracking of a hover system test bed. The proposed control method formally incorporates dynamic model uncertainty in addition to test bed voltage constraints. To reduce the computational requirement in the closed-loop system, constant feedforward estimates of the input-multiplicative parametric uncertainty are utilized in lieu of adaptive parameter estimates. To eliminate the need for angular rate measurements, the control design employs a bank of dynamic filters, which operates as a velocity estimator in the closed-loop system. A rigorous error system development and Lyapunov-based stability analysis are presented to prove asymptotic 3-DOF attitude trajectory tracking control. Computer simulation and experimental results are also included to illustrate the performance of the attitude control method using the Quanser 3-DOF hover system test bed.

Keywords

Output feedback quadrotor quaternion robust tracking 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Derek Hoffman
    • 1
  • Muhammad Rehan
    • 1
  • William MacKunis
    • 1
  • Mahmut Reyhanoglu
    • 2
  1. 1.Department of Physical SciencesEmbry-Riddle Aeronautical UniversityDaytona BeachUSA
  2. 2.Department of EngineeringUniversity of North Carolina at AshevilleAshevilleUSA

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